| [ |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3164", |
| "actions_list": [ |
| "move_to(none, kettle_lid)", |
| "press(kettle_lid)" |
| ], |
| "gt_dag": { |
| "move_to(none, kettle_lid)": [ |
| "press(kettle_lid)" |
| ], |
| "press(kettle_lid)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3164.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_take_out_chips_from_packaging_episode_0", |
| "actions_list": [ |
| "move_to(none, chips_can)", |
| "grasp(chips_can)", |
| "pick_up(chips_can)", |
| "pull(chips_can, none)", |
| "move_to(chips_can,table)", |
| "place(chips_can,table)" |
| ], |
| "gt_dag": { |
| "move_to(none, chips_can)": [ |
| "grasp(chips_can)" |
| ], |
| "grasp(chips_can)": [ |
| "pick_up(chips_can)" |
| ], |
| "pick_up(chips_can)": [ |
| "pull(chips_can, none)" |
| ], |
| "pull(chips_can, none)": [ |
| "move_to(chips_can,table)" |
| ], |
| "move_to(chips_can,table)": [ |
| "place(chips_can,table)" |
| ], |
| "place(chips_can,table)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_RDT-FT_imgs_1_take_out_chips_from_packaging_episode_0.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3261", |
| "actions_list": [ |
| "move_to(none, faucet_switch)", |
| "press(faucet_switch)" |
| ], |
| "gt_dag": { |
| "move_to(none, faucet_switch)": [ |
| "press(faucet_switch)" |
| ], |
| "press(faucet_switch)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3261.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2438", |
| "actions_list": [ |
| "move_to(none, light_switch)", |
| "press(light_switch)" |
| ], |
| "gt_dag": { |
| "move_to(none, light_switch)": [ |
| "press(light_switch)" |
| ], |
| "press(light_switch)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2438.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-26_rgbd-cam_high", |
| "actions_list": [ |
| "move_to(none, bottle)", |
| "grasp(bottle)", |
| "pick_up(bottle)", |
| "move_to(bottle, under_of_water_dispenser_tap)", |
| "pick_up(bottle)", |
| "hold(bottle)", |
| "place(bottle, desktop)" |
| ], |
| "gt_dag": { |
| "move_to(none, bottle)": [ |
| "grasp(bottle)" |
| ], |
| "grasp(bottle)": [ |
| "pick_up(bottle)" |
| ], |
| "pick_up(bottle)": [ |
| "move_to(bottle, under_of_water_dispenser_tap)" |
| ], |
| "move_to(bottle, under_of_water_dispenser_tap)": [ |
| "pick_up(bottle)<1>" |
| ], |
| "hold(bottle)": [ |
| "place(bottle, desktop)" |
| ], |
| "place(bottle, desktop)": [], |
| "pick_up(bottle)<1>": [ |
| "hold(bottle)" |
| ] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_ARIO_imgs_extract-frames_Songling_series-1_task-pick_water_50_4_7th_episode-26_rgbd-cam_high.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2910", |
| "actions_list": [ |
| "move_to(pot_lid)", |
| "grasp(pot_lid_handle)", |
| "pick_up(pot_lid)", |
| "move_to(pot_lid, desktop)", |
| "place(pot_lid, desktop)", |
| "move_to(none, food_on_bowl)", |
| "grasp(food)", |
| "pick_up(food)", |
| "move_to(food, pot)", |
| "place(food, pot)", |
| "move_to(none, napkin)", |
| "grasp(napkin)", |
| "pick_up(napkin)", |
| "move_to(napkin, desktop)", |
| "place(napkin, desktop)", |
| "move_to(none, spoon)", |
| "grasp(spoon_handle)", |
| "pick_up(spoon)", |
| "move_to(spoon, inside_of_pot)", |
| "stir(spoon, food, pot)", |
| "move_to(spoon, desktop)", |
| "place(spoon, desktop)", |
| "move_to(none, pot_lid)", |
| "grasp(pot_lid)", |
| "pick_up(pot_lid)", |
| "move_to(pot_lid, pot)", |
| "place(pot_lid, pot)" |
| ], |
| "gt_dag": { |
| "move_to(pot_lid)": [ |
| "grasp(pot_lid_handle)" |
| ], |
| "grasp(pot_lid_handle)": [ |
| "pick_up(pot_lid)" |
| ], |
| "pick_up(pot_lid)": [ |
| "move_to(pot_lid, desktop)" |
| ], |
| "move_to(pot_lid, desktop)": [ |
| "place(pot_lid, desktop)" |
| ], |
| "place(pot_lid, desktop)": [ |
| "move_to(none, food_on_bowl)", |
| "move_to(none, napkin)" |
| ], |
| "move_to(none, food_on_bowl)": [ |
| "grasp(food)" |
| ], |
| "grasp(food)": [ |
| "pick_up(food)" |
| ], |
| "pick_up(food)": [ |
| "move_to(food, pot)" |
| ], |
| "move_to(food, pot)": [ |
| "place(food, pot)" |
| ], |
| "place(food, pot)": [ |
| "move_to(none, spoon)" |
| ], |
| "move_to(none, napkin)": [ |
| "grasp(napkin)" |
| ], |
| "grasp(napkin)": [ |
| "pick_up(napkin)" |
| ], |
| "pick_up(napkin)": [ |
| "move_to(napkin, desktop)" |
| ], |
| "move_to(napkin, desktop)": [ |
| "place(napkin, desktop)" |
| ], |
| "place(napkin, desktop)": [ |
| "move_to(none, spoon)" |
| ], |
| "move_to(none, spoon)": [ |
| "grasp(spoon_handle)" |
| ], |
| "grasp(spoon_handle)": [ |
| "pick_up(spoon)" |
| ], |
| "pick_up(spoon)": [ |
| "move_to(spoon, inside_of_pot)" |
| ], |
| "move_to(spoon, inside_of_pot)": [ |
| "stir(spoon, food, pot)" |
| ], |
| "stir(spoon, food, pot)": [ |
| "move_to(spoon, desktop)" |
| ], |
| "move_to(spoon, desktop)": [ |
| "place(spoon, desktop)" |
| ], |
| "place(spoon, desktop)": [ |
| "move_to(none, pot_lid)" |
| ], |
| "move_to(none, pot_lid)": [ |
| "grasp(pot_lid)" |
| ], |
| "grasp(pot_lid)": [ |
| "pick_up(pot_lid)<1>" |
| ], |
| "move_to(pot_lid, pot)": [ |
| "place(pot_lid, pot)" |
| ], |
| "place(pot_lid, pot)": [], |
| "pick_up(pot_lid)<1>": [ |
| "move_to(pot_lid, pot)" |
| ] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2910.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2447", |
| "actions_list": [ |
| "move_to(none, lid)", |
| "grasp(lid_handle)", |
| "pick_up(lid)", |
| "move_to(lid, counter)", |
| "place(lid, counter)", |
| "move_to(none, first_food)", |
| "grasp(first_food)", |
| "pick_up(first_food)", |
| "move_to(first_food,frying_pan)", |
| "place(first_food,frying_pan)", |
| "move_to(none, second_food)", |
| "grasp(second_food)", |
| "pick_up(second_food)", |
| "move_to(second_food,frying_pan)", |
| "place(second_food,frying_pan)", |
| "move_to(none, third_food)", |
| "grasp(third_food)", |
| "pick_up(third_food)", |
| "move_to(third_food,frying_pan)", |
| "place(third_food,frying_pan)", |
| "move_to(none, lid)", |
| "grasp(lid_handle)", |
| "pick_up(lid)", |
| "move_to(lid,frying_pan)", |
| "place(lid,frying_pan)" |
| ], |
| "gt_dag": { |
| "move_to(none, lid)": [ |
| "grasp(lid_handle)" |
| ], |
| "grasp(lid_handle)": [ |
| "pick_up(lid)" |
| ], |
| "pick_up(lid)": [ |
| "move_to(lid, counter)" |
| ], |
| "move_to(lid, counter)": [ |
| "place(lid, counter)" |
| ], |
| "place(lid, counter)": [ |
| "move_to(none, first_food)", |
| "move_to(none, second_food)", |
| "move_to(none, third_food)" |
| ], |
| "move_to(none, first_food)": [ |
| "grasp(first_food)" |
| ], |
| "grasp(first_food)": [ |
| "pick_up(first_food)" |
| ], |
| "pick_up(first_food)": [ |
| "move_to(first_food,frying_pan)" |
| ], |
| "move_to(first_food,frying_pan)": [ |
| "place(first_food,frying_pan)" |
| ], |
| "place(first_food,frying_pan)": [ |
| "move_to(none, lid)<1>" |
| ], |
| "move_to(none, second_food)": [ |
| "grasp(second_food)" |
| ], |
| "grasp(second_food)": [ |
| "pick_up(second_food)" |
| ], |
| "pick_up(second_food)": [ |
| "move_to(second_food,frying_pan)" |
| ], |
| "move_to(second_food,frying_pan)": [ |
| "place(second_food,frying_pan)" |
| ], |
| "place(second_food,frying_pan)": [ |
| "move_to(none, lid)<1>" |
| ], |
| "move_to(none, third_food)": [ |
| "grasp(third_food)" |
| ], |
| "grasp(third_food)": [ |
| "pick_up(third_food)" |
| ], |
| "pick_up(third_food)": [ |
| "move_to(third_food,frying_pan)" |
| ], |
| "move_to(third_food,frying_pan)": [ |
| "place(third_food,frying_pan)" |
| ], |
| "place(third_food,frying_pan)": [ |
| "move_to(none, lid)<1>" |
| ], |
| "move_to(lid,frying_pan)": [ |
| "place(lid,frying_pan)" |
| ], |
| "place(lid,frying_pan)": [], |
| "move_to(none, lid)<1>": [ |
| "grasp(lid_handle)<1>" |
| ], |
| "grasp(lid_handle)<1>": [ |
| "pick_up(lid)<1>" |
| ], |
| "pick_up(lid)<1>": [ |
| "move_to(lid,frying_pan)" |
| ] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2447.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_571", |
| "actions_list": [ |
| "move_to(first_green_ball)", |
| "grasp(green_ball)", |
| "pick_up(green_ball)", |
| "move_to(green_ball,bowl)", |
| "place(green_ball,bowl)", |
| "move_to(second_green_ball)", |
| "grasp(second_green_ball)", |
| "pick_up(second_green_ball)", |
| "move_to(second_green_ball,bowl)", |
| "place(second_green_ball,bowl)", |
| "move_to(first_yellow_ball)", |
| "grasp(first_yellow_ball)", |
| "pick_up(first_yellow_ball)", |
| "move_to(first_yellow_ball,bowl)", |
| "place(first_yellow_ball,bowl)", |
| "move_to(banana)", |
| "grasp(banana)", |
| "pick_up(banana)", |
| "move_to(banana,bowl)", |
| "place(banana,bowl)", |
| "move_to(apple)", |
| "grasp(apple)", |
| "pick_up(apple)", |
| "move_to(apple,bowl)", |
| "place(apple,bowl)", |
| "move_to(red_ball)", |
| "grasp(red_ball)", |
| "pick_up(red_ball)", |
| "move_to(red_ball,bowl)", |
| "place(red_ball,bowl)", |
| "move_to(second_yellow_ball)", |
| "grasp(second_yellow_ball)", |
| "pick_up(second_yellow_ball)", |
| "move_to(second_yellow_ball,bowl)", |
| "place(second_yellow_ball,bowl)", |
| "move_to(pear)", |
| "grasp(pear)", |
| "pick_up(pear)", |
| "move_to(pear,bowl)", |
| "place(pear,bowl)" |
| ], |
| "gt_dag": { |
| "move_to(first_green_ball)": [ |
| "grasp(green_ball)" |
| ], |
| "grasp(green_ball)": [ |
| "pick_up(green_ball)" |
| ], |
| "pick_up(green_ball)": [ |
| "move_to(green_ball,bowl)" |
| ], |
| "move_to(green_ball,bowl)": [ |
| "place(green_ball,bowl)" |
| ], |
| "place(green_ball,bowl)": [], |
| "move_to(second_green_ball)": [ |
| "grasp(second_green_ball)" |
| ], |
| "grasp(second_green_ball)": [ |
| "pick_up(second_green_ball)" |
| ], |
| "pick_up(second_green_ball)": [ |
| "move_to(second_green_ball,bowl)" |
| ], |
| "move_to(second_green_ball,bowl)": [ |
| "place(second_green_ball,bowl)" |
| ], |
| "place(second_green_ball,bowl)": [], |
| "move_to(first_yellow_ball)": [ |
| "grasp(first_yellow_ball)" |
| ], |
| "grasp(first_yellow_ball)": [ |
| "pick_up(first_yellow_ball)" |
| ], |
| "pick_up(first_yellow_ball)": [ |
| "move_to(first_yellow_ball,bowl)" |
| ], |
| "move_to(first_yellow_ball,bowl)": [ |
| "place(first_yellow_ball,bowl)" |
| ], |
| "place(first_yellow_ball,bowl)": [], |
| "move_to(banana)": [ |
| "grasp(banana)" |
| ], |
| "grasp(banana)": [ |
| "pick_up(banana)" |
| ], |
| "pick_up(banana)": [ |
| "move_to(banana,bowl)" |
| ], |
| "move_to(banana,bowl)": [ |
| "place(banana,bowl)" |
| ], |
| "place(banana,bowl)": [], |
| "move_to(apple)": [ |
| "grasp(apple)" |
| ], |
| "grasp(apple)": [ |
| "pick_up(apple)" |
| ], |
| "pick_up(apple)": [ |
| "move_to(apple,bowl)" |
| ], |
| "move_to(apple,bowl)": [ |
| "place(apple,bowl)" |
| ], |
| "place(apple,bowl)": [], |
| "move_to(red_ball)": [ |
| "grasp(red_ball)" |
| ], |
| "grasp(red_ball)": [ |
| "pick_up(red_ball)" |
| ], |
| "pick_up(red_ball)": [ |
| "move_to(red_ball,bowl)" |
| ], |
| "move_to(red_ball,bowl)": [ |
| "place(red_ball,bowl)" |
| ], |
| "place(red_ball,bowl)": [], |
| "move_to(second_yellow_ball)": [ |
| "grasp(second_yellow_ball)" |
| ], |
| "grasp(second_yellow_ball)": [ |
| "pick_up(second_yellow_ball)" |
| ], |
| "pick_up(second_yellow_ball)": [ |
| "move_to(second_yellow_ball,bowl)" |
| ], |
| "move_to(second_yellow_ball,bowl)": [ |
| "place(second_yellow_ball,bowl)" |
| ], |
| "place(second_yellow_ball,bowl)": [], |
| "move_to(pear)": [ |
| "grasp(pear)" |
| ], |
| "grasp(pear)": [ |
| "pick_up(pear)" |
| ], |
| "pick_up(pear)": [ |
| "move_to(pear,bowl)" |
| ], |
| "move_to(pear,bowl)": [ |
| "place(pear,bowl)" |
| ], |
| "place(pear,bowl)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_571.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2350", |
| "actions_list": [ |
| "move_to(none, can)", |
| "grasp(can)", |
| "pick_up(can)", |
| "move_to(can， countertop)", |
| "place(none, can)" |
| ], |
| "gt_dag": { |
| "move_to(none, can)": [ |
| "grasp(can)" |
| ], |
| "grasp(can)": [ |
| "pick_up(can)" |
| ], |
| "pick_up(can)": [ |
| "move_to(can， countertop)" |
| ], |
| "move_to(can， countertop)": [ |
| "place(none, can)" |
| ], |
| "place(none, can)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2350.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2536", |
| "actions_list": [ |
| "move_to(none, shoe)", |
| "grasp(shoe)", |
| "pick_up(shoe)", |
| "turn(shoe, anticlockwise, left_of_shoe)", |
| "place(shoe, shoe_rack)" |
| ], |
| "gt_dag": { |
| "move_to(none, shoe)": [ |
| "grasp(shoe)" |
| ], |
| "grasp(shoe)": [ |
| "pick_up(shoe)" |
| ], |
| "pick_up(shoe)": [ |
| "turn(shoe, anticlockwise, left_of_shoe)" |
| ], |
| "turn(shoe, anticlockwise, left_of_shoe)": [ |
| "place(shoe, shoe_rack)" |
| ], |
| "place(shoe, shoe_rack)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2536.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1023", |
| "actions_list": [ |
| "move_to(none, lid)", |
| "grasp(lid_handle)", |
| "pick_up(lid)", |
| "move_to(lid,countertop)", |
| "place(lid,countertop)", |
| "move_to(none, first_food)", |
| "grasp(first_food)", |
| "pick_up(first_food)", |
| "move_to(first_food,pot)", |
| "place(first_food, pot)", |
| "move_to(none, second_food)", |
| "grasp(second_food)", |
| "pick_up(second_food)", |
| "move_to(second_food,pot)", |
| "place(second_food, pot)", |
| "move_to(none, third_food)", |
| "grasp(third_food)", |
| "pick_up(third_food)", |
| "move_to(third_food,pot)", |
| "place(third_food, pot)", |
| "move_to(none, lid)", |
| "grasp(lid_handlle)", |
| "pick_up(lid)", |
| "move_to(lid, pot)", |
| "place(lid, pot)" |
| ], |
| "gt_dag": { |
| "move_to(none, lid)": [ |
| "grasp(lid_handle)" |
| ], |
| "grasp(lid_handle)": [ |
| "pick_up(lid)" |
| ], |
| "pick_up(lid)": [ |
| "move_to(lid,countertop)" |
| ], |
| "move_to(lid,countertop)": [ |
| "place(lid,countertop)" |
| ], |
| "place(lid,countertop)": [ |
| "move_to(none, first_food)", |
| "move_to(none, second_food)", |
| "move_to(none, third_food)" |
| ], |
| "move_to(none, first_food)": [ |
| "grasp(first_food)" |
| ], |
| "grasp(first_food)": [ |
| "pick_up(first_food)" |
| ], |
| "pick_up(first_food)": [ |
| "move_to(first_food,pot)" |
| ], |
| "move_to(first_food,pot)": [ |
| "place(first_food, pot)" |
| ], |
| "place(first_food, pot)": [ |
| "move_to(none, lid)<1>" |
| ], |
| "move_to(none, second_food)": [ |
| "grasp(second_food)" |
| ], |
| "grasp(second_food)": [ |
| "pick_up(second_food)" |
| ], |
| "pick_up(second_food)": [ |
| "move_to(second_food,pot)" |
| ], |
| "move_to(second_food,pot)": [ |
| "place(second_food, pot)" |
| ], |
| "place(second_food, pot)": [ |
| "move_to(none, lid)<1>" |
| ], |
| "move_to(none, third_food)": [ |
| "grasp(third_food)" |
| ], |
| "grasp(third_food)": [ |
| "pick_up(third_food)" |
| ], |
| "pick_up(third_food)": [ |
| "move_to(third_food,pot)" |
| ], |
| "move_to(third_food,pot)": [ |
| "place(third_food, pot)" |
| ], |
| "place(third_food, pot)": [ |
| "move_to(none, lid)<1>" |
| ], |
| "grasp(lid_handlle)": [ |
| "pick_up(lid)<1>" |
| ], |
| "move_to(lid, pot)": [ |
| "place(lid, pot)" |
| ], |
| "place(lid, pot)": [], |
| "pick_up(lid)<1>": [ |
| "move_to(lid, pot)" |
| ], |
| "move_to(none, lid)<1>": [ |
| "grasp(lid_handlle)" |
| ] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_1023.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2256", |
| "actions_list": [ |
| "move_to(none, rag)", |
| "grasp(rag)", |
| "pick_up(rag)", |
| "move_to(rag, desktop)", |
| "place(rag, desktop)", |
| "move_to(none, first_food)", |
| "grasp(first_food)", |
| "pick_up(first_food)", |
| "move_to(first_food, desktop)", |
| "place(first_food, desktop)", |
| "move_to(none, second_food)", |
| "grasp(second_food)", |
| "pick_up(second_food)", |
| "move_to(second_food, desktop)", |
| "place(second_food, desktop)", |
| "move_to(none, first_can)", |
| "grasp(first_can)", |
| "pick_up(first_can)", |
| "move_to(first_can, tray)", |
| "place(first_can, tray)", |
| "move_to(none, second_can)", |
| "grasp(second_can)", |
| "pick_up(second_can)", |
| "move_to(second_can, tray)", |
| "place(second_can, tray)" |
| ], |
| "gt_dag": { |
| "move_to(none, rag)": [ |
| "grasp(rag)" |
| ], |
| "grasp(rag)": [ |
| "pick_up(rag)" |
| ], |
| "pick_up(rag)": [ |
| "move_to(rag, desktop)" |
| ], |
| "move_to(rag, desktop)": [ |
| "place(rag, desktop)" |
| ], |
| "place(rag, desktop)": [ |
| "move_to(none, first_can)", |
| "move_to(none, second_can)" |
| ], |
| "move_to(none, first_food)": [ |
| "grasp(first_food)" |
| ], |
| "grasp(first_food)": [ |
| "pick_up(first_food)" |
| ], |
| "pick_up(first_food)": [ |
| "move_to(first_food, desktop)" |
| ], |
| "move_to(first_food, desktop)": [ |
| "place(first_food, desktop)" |
| ], |
| "place(first_food, desktop)": [ |
| "move_to(none, first_can)", |
| "move_to(none, second_can)" |
| ], |
| "move_to(none, second_food)": [ |
| "grasp(second_food)" |
| ], |
| "grasp(second_food)": [ |
| "pick_up(second_food)" |
| ], |
| "pick_up(second_food)": [ |
| "move_to(second_food, desktop)" |
| ], |
| "move_to(second_food, desktop)": [ |
| "place(second_food, desktop)" |
| ], |
| "place(second_food, desktop)": [ |
| "move_to(none, first_can)", |
| "move_to(none, second_can)" |
| ], |
| "move_to(none, first_can)": [ |
| "grasp(first_can)" |
| ], |
| "grasp(first_can)": [ |
| "pick_up(first_can)" |
| ], |
| "pick_up(first_can)": [ |
| "move_to(first_can, tray)" |
| ], |
| "move_to(first_can, tray)": [ |
| "place(first_can, tray)" |
| ], |
| "place(first_can, tray)": [], |
| "move_to(none, second_can)": [ |
| "grasp(second_can)" |
| ], |
| "grasp(second_can)": [ |
| "pick_up(second_can)" |
| ], |
| "pick_up(second_can)": [ |
| "move_to(second_can, tray)" |
| ], |
| "move_to(second_can, tray)": [ |
| "place(second_can, tray)" |
| ], |
| "place(second_can, tray)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2256.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2444", |
| "actions_list": [ |
| "move_to(none, blinds_top)", |
| "grasp(blinds_top)", |
| "pull(blinds_rope, )" |
| ], |
| "gt_dag": { |
| "move_to(none, blinds_top)": [ |
| "grasp(blinds_top)" |
| ], |
| "grasp(blinds_top)": [ |
| "pull(blinds_rope, )" |
| ], |
| "pull(blinds_rope, )": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2444.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1032", |
| "actions_list": [ |
| "move_to(none, corner_of_washcloth)", |
| "grasp(concer_of_washcloth)", |
| "fold(washcloth, anticlockwise, left_of_washcloth)", |
| "place(washcloth, countertop)", |
| "move_to(none, corner_of_washcloth)", |
| "grasp(concer_of_washcloth)", |
| "fold(washcloth, anticlockwise, right_of_washcloth)", |
| "place(washcloth, countertop)" |
| ], |
| "gt_dag": { |
| "move_to(none, corner_of_washcloth)": [ |
| "grasp(concer_of_washcloth)" |
| ], |
| "grasp(concer_of_washcloth)": [ |
| "fold(washcloth, anticlockwise, left_of_washcloth)" |
| ], |
| "fold(washcloth, anticlockwise, left_of_washcloth)": [ |
| "place(washcloth, countertop)" |
| ], |
| "place(washcloth, countertop)": [ |
| "move_to(none, corner_of_washcloth)<1>" |
| ], |
| "fold(washcloth, anticlockwise, right_of_washcloth)": [ |
| "place(washcloth, countertop)<1>" |
| ], |
| "move_to(none, corner_of_washcloth)<1>": [ |
| "grasp(concer_of_washcloth)<1>" |
| ], |
| "grasp(concer_of_washcloth)<1>": [ |
| "fold(washcloth, anticlockwise, right_of_washcloth)" |
| ], |
| "place(washcloth, countertop)<1>": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_1032.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_46681", |
| "actions_list": [ |
| "move_to(none, pen)", |
| "grasp(pen)", |
| "pick_up(pen)", |
| "move_to(pen, desktop)", |
| "place(pen, desktop)", |
| "move_to(none, napkin)", |
| "grasp(napkin)", |
| "pick_up(napkin)", |
| "move_to(napkin, socket)", |
| "wipe(napkin, none, socket)", |
| "move_to(napkin, desktop)", |
| "place(napkin, desktop)" |
| ], |
| "gt_dag": { |
| "move_to(none, pen)": [ |
| "grasp(pen)" |
| ], |
| "grasp(pen)": [ |
| "pick_up(pen)" |
| ], |
| "pick_up(pen)": [ |
| "move_to(pen, desktop)" |
| ], |
| "move_to(pen, desktop)": [ |
| "place(pen, desktop)" |
| ], |
| "place(pen, desktop)": [ |
| "move_to(none, napkin)" |
| ], |
| "move_to(none, napkin)": [ |
| "grasp(napkin)" |
| ], |
| "grasp(napkin)": [ |
| "pick_up(napkin)" |
| ], |
| "pick_up(napkin)": [ |
| "move_to(napkin, socket)" |
| ], |
| "move_to(napkin, socket)": [ |
| "wipe(napkin, none, socket)" |
| ], |
| "wipe(napkin, none, socket)": [ |
| "move_to(napkin, desktop)" |
| ], |
| "move_to(napkin, desktop)": [ |
| "place(napkin, desktop)" |
| ], |
| "place(napkin, desktop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_46681.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2434", |
| "actions_list": [ |
| "move_to(none, water_bottle)", |
| "grasp(water_bottle)", |
| "pick_up(water_bottle)", |
| "turn(water_bottle,anticlockwise, left_of_water_bottle)" |
| ], |
| "gt_dag": { |
| "move_to(none, water_bottle)": [ |
| "grasp(water_bottle)" |
| ], |
| "grasp(water_bottle)": [ |
| "pick_up(water_bottle)" |
| ], |
| "pick_up(water_bottle)": [ |
| "turn(water_bottle,anticlockwise, left_of_water_bottle)" |
| ], |
| "turn(water_bottle,anticlockwise, left_of_water_bottle)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2434.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_28951", |
| "actions_list": [ |
| "move_to(none, coffee_capsules)", |
| "grasp(coffee_capsules)", |
| "pick_up(coffee_capsules)", |
| "move_to(coffee_capsules，coffee_machine)", |
| "place(coffee_capsules，coffee_machine)", |
| "move_to(none, trash_can_lid)", |
| "press(trash_can_lid)" |
| ], |
| "gt_dag": { |
| "move_to(none, coffee_capsules)": [ |
| "grasp(coffee_capsules)" |
| ], |
| "grasp(coffee_capsules)": [ |
| "pick_up(coffee_capsules)" |
| ], |
| "pick_up(coffee_capsules)": [ |
| "move_to(coffee_capsules，coffee_machine)" |
| ], |
| "move_to(coffee_capsules，coffee_machine)": [ |
| "place(coffee_capsules，coffee_machine)" |
| ], |
| "place(coffee_capsules，coffee_machine)": [], |
| "move_to(none, trash_can_lid)": [ |
| "press(trash_can_lid)" |
| ], |
| "press(trash_can_lid)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_28951.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2634", |
| "actions_list": [ |
| "move_to(none, cup)", |
| "grasp(cup)", |
| "pick_up(cup)", |
| "move_to(cup, next_of_palte)", |
| "place(cup, next_of_palte)" |
| ], |
| "gt_dag": { |
| "move_to(none, cup)": [ |
| "grasp(cup)" |
| ], |
| "grasp(cup)": [ |
| "pick_up(cup)" |
| ], |
| "pick_up(cup)": [ |
| "move_to(cup, next_of_palte)" |
| ], |
| "move_to(cup, next_of_palte)": [ |
| "place(cup, next_of_palte)" |
| ], |
| "place(cup, next_of_palte)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2634.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_playmahjong_episode_0", |
| "actions_list": [ |
| "move_to(none, bird_mahjong_tile)", |
| "grasp(bird_mahjong_tile)", |
| "pick_up(mahjong_tile)", |
| "move_to(mahjong_tile, middle_of_desktop)", |
| "place(mahjong_tile, middle_of_desktop)" |
| ], |
| "gt_dag": { |
| "move_to(none, bird_mahjong_tile)": [ |
| "grasp(bird_mahjong_tile)" |
| ], |
| "grasp(bird_mahjong_tile)": [ |
| "pick_up(mahjong_tile)" |
| ], |
| "pick_up(mahjong_tile)": [ |
| "move_to(mahjong_tile, middle_of_desktop)" |
| ], |
| "move_to(mahjong_tile, middle_of_desktop)": [ |
| "place(mahjong_tile, middle_of_desktop)" |
| ], |
| "place(mahjong_tile, middle_of_desktop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_RDT-FT_imgs_1_playmahjong_episode_0.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2518", |
| "actions_list": [ |
| "move_to(none, stir_rod)", |
| "grasp(stir_rod)", |
| "pick_up(stir_rod)", |
| "move_to(stir_rod, pot)", |
| "stir(stir_rod, none,pot)" |
| ], |
| "gt_dag": { |
| "move_to(none, stir_rod)": [ |
| "grasp(stir_rod)" |
| ], |
| "grasp(stir_rod)": [ |
| "pick_up(stir_rod)" |
| ], |
| "pick_up(stir_rod)": [ |
| "move_to(stir_rod, pot)" |
| ], |
| "move_to(stir_rod, pot)": [ |
| "stir(stir_rod, none,pot)" |
| ], |
| "stir(stir_rod, none,pot)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2518.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_9078", |
| "actions_list": [ |
| "move_to(none, spice_container)", |
| "grasp(spice_container)", |
| "pick_up(spice_container)", |
| "move_to(spice_container, fying_pan)", |
| "pour(spice_container, spice, fying_pan)" |
| ], |
| "gt_dag": { |
| "move_to(none, spice_container)": [ |
| "grasp(spice_container)" |
| ], |
| "grasp(spice_container)": [ |
| "pick_up(spice_container)" |
| ], |
| "pick_up(spice_container)": [ |
| "move_to(spice_container, fying_pan)" |
| ], |
| "move_to(spice_container, fying_pan)": [ |
| "pour(spice_container, spice, fying_pan)" |
| ], |
| "pour(spice_container, spice, fying_pan)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_9078.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2616", |
| "actions_list": [ |
| "move_to(none, trash)", |
| "grasp(trash)", |
| "pick_up(trash)", |
| "move_to(trash,countertop)", |
| "place(trash, countertop)" |
| ], |
| "gt_dag": { |
| "move_to(none, trash)": [ |
| "grasp(trash)" |
| ], |
| "grasp(trash)": [ |
| "pick_up(trash)" |
| ], |
| "pick_up(trash)": [ |
| "move_to(trash,countertop)" |
| ], |
| "move_to(trash,countertop)": [ |
| "place(trash, countertop)" |
| ], |
| "place(trash, countertop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2616.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_369", |
| "actions_list": [ |
| "move_to(none, cloth)", |
| "grasp(cloth)", |
| "wipe(cloth, none, desktop)" |
| ], |
| "gt_dag": { |
| "move_to(none, cloth)": [ |
| "grasp(cloth)" |
| ], |
| "grasp(cloth)": [ |
| "wipe(cloth, none, desktop)" |
| ], |
| "wipe(cloth, none, desktop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_369.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2992", |
| "actions_list": [ |
| "move_to(none, cup)", |
| "grasp(cup)", |
| "pick_up(cup)", |
| "turn(cup, anticlockwise, overturn)", |
| "move_to(cup, counter_top)", |
| "place(cup, counter_top)" |
| ], |
| "gt_dag": { |
| "move_to(none, cup)": [ |
| "grasp(cup)" |
| ], |
| "grasp(cup)": [ |
| "pick_up(cup)" |
| ], |
| "pick_up(cup)": [ |
| "turn(cup, anticlockwise, overturn)" |
| ], |
| "turn(cup, anticlockwise, overturn)": [ |
| "move_to(cup, counter_top)" |
| ], |
| "move_to(cup, counter_top)": [ |
| "place(cup, counter_top)" |
| ], |
| "place(cup, counter_top)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2992.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2460", |
| "actions_list": [ |
| "move_to(none, microwave_door)", |
| "grasp(microwave_door_handle)", |
| "pull(microwave_door,open)" |
| ], |
| "gt_dag": { |
| "move_to(none, microwave_door)": [ |
| "grasp(microwave_door_handle)" |
| ], |
| "grasp(microwave_door_handle)": [ |
| "pull(microwave_door,open)" |
| ], |
| "pull(microwave_door,open)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2460.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13417", |
| "actions_list": [ |
| "move_to(none, bowl)", |
| "grasp(bowl)", |
| "pick_up(bowl)", |
| "move_to(bowl, right_side_of_desktop)", |
| "place(bowl, right_side_of_desktop)", |
| "move_to(none, plate)", |
| "grasp(plate)", |
| "pick_up(plate)", |
| "move_to(plate, right_side_of_desktop)", |
| "place(plate, right_side_of_desktop)", |
| "move_to(none, microwave_door)", |
| "grasp(microwave_door)", |
| "pick_up(microwave_door)", |
| "pull(microwave_door, open)" |
| ], |
| "gt_dag": { |
| "move_to(none, bowl)": [ |
| "grasp(bowl)" |
| ], |
| "grasp(bowl)": [ |
| "pick_up(bowl)" |
| ], |
| "pick_up(bowl)": [ |
| "move_to(bowl, right_side_of_desktop)" |
| ], |
| "move_to(bowl, right_side_of_desktop)": [ |
| "place(bowl, right_side_of_desktop)" |
| ], |
| "place(bowl, right_side_of_desktop)": [ |
| "move_to(none, plate)" |
| ], |
| "move_to(none, plate)": [ |
| "grasp(plate)" |
| ], |
| "grasp(plate)": [ |
| "pick_up(plate)" |
| ], |
| "pick_up(plate)": [ |
| "move_to(plate, right_side_of_desktop)" |
| ], |
| "move_to(plate, right_side_of_desktop)": [ |
| "place(plate, right_side_of_desktop)" |
| ], |
| "place(plate, right_side_of_desktop)": [ |
| "move_to(none, microwave_door)" |
| ], |
| "move_to(none, microwave_door)": [ |
| "grasp(microwave_door)" |
| ], |
| "grasp(microwave_door)": [ |
| "pick_up(microwave_door)" |
| ], |
| "pick_up(microwave_door)": [ |
| "pull(microwave_door, open)" |
| ], |
| "pull(microwave_door, open)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_13417.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3040", |
| "actions_list": [ |
| "move_to(none, cup)", |
| "grasp(cup)", |
| "pick_up(cup)", |
| "move_to(cup, right_of_the_glass)", |
| "place(cup, right_of_the_glass)" |
| ], |
| "gt_dag": { |
| "move_to(none, cup)": [ |
| "grasp(cup)" |
| ], |
| "grasp(cup)": [ |
| "pick_up(cup)" |
| ], |
| "pick_up(cup)": [ |
| "move_to(cup, right_of_the_glass)" |
| ], |
| "move_to(cup, right_of_the_glass)": [ |
| "place(cup, right_of_the_glass)" |
| ], |
| "place(cup, right_of_the_glass)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3040.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13596", |
| "actions_list": [ |
| "move_to(none, toothpaste)", |
| "grasp(toothpaste)", |
| "pick_up(toothpaste)", |
| "move_to(toothpaste, countertop)", |
| "place(toothpaste, countertop)" |
| ], |
| "gt_dag": { |
| "move_to(none, toothpaste)": [ |
| "grasp(toothpaste)" |
| ], |
| "grasp(toothpaste)": [ |
| "pick_up(toothpaste)" |
| ], |
| "pick_up(toothpaste)": [ |
| "move_to(toothpaste, countertop)" |
| ], |
| "move_to(toothpaste, countertop)": [ |
| "place(toothpaste, countertop)" |
| ], |
| "place(toothpaste, countertop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_13596.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-127_episode-1_rgbd-1", |
| "actions_list": [ |
| "move_to(none, glass)", |
| "grasp(glass_base)", |
| "pick_up(glass)", |
| "move_to(glass, wooden_stand)", |
| "place(glass, wooden_stand)" |
| ], |
| "gt_dag": { |
| "move_to(none, glass)": [ |
| "grasp(glass_base)" |
| ], |
| "grasp(glass_base)": [ |
| "pick_up(glass)" |
| ], |
| "pick_up(glass)": [ |
| "move_to(glass, wooden_stand)" |
| ], |
| "move_to(glass, wooden_stand)": [ |
| "place(glass, wooden_stand)" |
| ], |
| "place(glass, wooden_stand)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-127_episode-1_rgbd-1.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2439", |
| "actions_list": [ |
| "move_to(none, box_lid)", |
| "grasp(box_lid)", |
| "turn(box_lid, clockwise, open)", |
| "move_to(none, cup)", |
| "grasp(cup)", |
| "pick_up(cup)", |
| "move_to(cup, box)", |
| "place(cup, box)" |
| ], |
| "gt_dag": { |
| "move_to(none, box_lid)": [ |
| "grasp(box_lid)" |
| ], |
| "grasp(box_lid)": [ |
| "turn(box_lid, clockwise, open)" |
| ], |
| "turn(box_lid, clockwise, open)": [ |
| "move_to(none, cup)" |
| ], |
| "move_to(none, cup)": [ |
| "grasp(cup)" |
| ], |
| "grasp(cup)": [ |
| "pick_up(cup)" |
| ], |
| "pick_up(cup)": [ |
| "move_to(cup, box)" |
| ], |
| "move_to(cup, box)": [ |
| "place(cup, box)" |
| ], |
| "place(cup, box)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2439.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3029", |
| "actions_list": [ |
| "move_to(none, roll_of_paper)", |
| "grasp(roll_of_paper)", |
| "pick_up(roll_of_paper)", |
| "move_to(roll_of_paper,countertop)", |
| "place(roll_of_paper,countertop)" |
| ], |
| "gt_dag": { |
| "move_to(none, roll_of_paper)": [ |
| "grasp(roll_of_paper)" |
| ], |
| "grasp(roll_of_paper)": [ |
| "pick_up(roll_of_paper)" |
| ], |
| "pick_up(roll_of_paper)": [ |
| "move_to(roll_of_paper,countertop)" |
| ], |
| "move_to(roll_of_paper,countertop)": [ |
| "place(roll_of_paper,countertop)" |
| ], |
| "place(roll_of_paper,countertop)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3029.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3384", |
| "actions_list": [ |
| "move_to(none, bread)", |
| "grasp(bread)", |
| "pick_up(bread)", |
| "move_to(bread, toaster)", |
| "insert(bread, toaster)", |
| "move_to(none, toaster_switch)", |
| "press(toaster_switch)" |
| ], |
| "gt_dag": { |
| "move_to(none, bread)": [ |
| "grasp(bread)" |
| ], |
| "grasp(bread)": [ |
| "pick_up(bread)" |
| ], |
| "pick_up(bread)": [ |
| "move_to(bread, toaster)" |
| ], |
| "move_to(bread, toaster)": [ |
| "insert(bread, toaster)" |
| ], |
| "insert(bread, toaster)": [ |
| "move_to(none, toaster_switch)" |
| ], |
| "move_to(none, toaster_switch)": [ |
| "press(toaster_switch)" |
| ], |
| "press(toaster_switch)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3384.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2872", |
| "actions_list": [ |
| "move_to(none, left_corner_of_the_cloth)", |
| "grasp(left_corner_of_the_cloth)", |
| "unfold(cloth, right_of_the_cloth)", |
| "place(cloth, countertop)", |
| "move_to(none, left_corner_of_the_cloth)", |
| "grasp(left_corner_of_the_cloth)", |
| "unfold(cloth, left_of_the_cloth)", |
| "place(cloth, countertop)", |
| "move_to(none, right_upper_corner_of_the_cloth)", |
| "grasp(right_upper_corner_of_the_cloth)", |
| "unfold(cloth, left_of_the_cloth)", |
| "place(cloth, countertop)" |
| ], |
| "gt_dag": { |
| "move_to(none, left_corner_of_the_cloth)": [ |
| "grasp(left_corner_of_the_cloth)" |
| ], |
| "grasp(left_corner_of_the_cloth)": [ |
| "unfold(cloth, right_of_the_cloth)" |
| ], |
| "unfold(cloth, right_of_the_cloth)": [ |
| "place(cloth, countertop)" |
| ], |
| "place(cloth, countertop)": [ |
| "move_to(none, left_corner_of_the_cloth)<1>" |
| ], |
| "unfold(cloth, left_of_the_cloth)": [ |
| "place(cloth, countertop)<1>" |
| ], |
| "move_to(none, right_upper_corner_of_the_cloth)": [ |
| "grasp(right_upper_corner_of_the_cloth)" |
| ], |
| "grasp(right_upper_corner_of_the_cloth)": [ |
| "unfold(cloth, left_of_the_cloth)<1>" |
| ], |
| "move_to(none, left_corner_of_the_cloth)<1>": [ |
| "grasp(left_corner_of_the_cloth)<1>" |
| ], |
| "grasp(left_corner_of_the_cloth)<1>": [ |
| "unfold(cloth, left_of_the_cloth)" |
| ], |
| "place(cloth, countertop)<1>": [ |
| "move_to(none, right_upper_corner_of_the_cloth)" |
| ], |
| "unfold(cloth, left_of_the_cloth)<1>": [ |
| "place(cloth, countertop)<2>" |
| ], |
| "place(cloth, countertop)<2>": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2872.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_pick_larger_value_episode_0", |
| "actions_list": [ |
| "move_to(none, white_poker_chip)", |
| "grasp(white_poker_chip)", |
| "pick_up(white_poker_chip)", |
| "move_to(white_poker_chip, cup)", |
| "place(white_poker_chip, cup)", |
| "move_to(none, red_poker_chip)", |
| "grasp(red_poker_chip)", |
| "pick_up(red_poker_chip)", |
| "move_to(red_poker_chip, cup)", |
| "place(red_poker_chip, cup)" |
| ], |
| "gt_dag": { |
| "move_to(none, white_poker_chip)": [ |
| "grasp(white_poker_chip)" |
| ], |
| "grasp(white_poker_chip)": [ |
| "pick_up(white_poker_chip)" |
| ], |
| "pick_up(white_poker_chip)": [ |
| "move_to(white_poker_chip, cup)" |
| ], |
| "move_to(white_poker_chip, cup)": [ |
| "place(white_poker_chip, cup)" |
| ], |
| "place(white_poker_chip, cup)": [ |
| "move_to(none, red_poker_chip)" |
| ], |
| "move_to(none, red_poker_chip)": [ |
| "grasp(red_poker_chip)" |
| ], |
| "grasp(red_poker_chip)": [ |
| "pick_up(red_poker_chip)" |
| ], |
| "pick_up(red_poker_chip)": [ |
| "move_to(red_poker_chip, cup)" |
| ], |
| "move_to(red_poker_chip, cup)": [ |
| "place(red_poker_chip, cup)" |
| ], |
| "place(red_poker_chip, cup)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_RDT-FT_imgs_1_pick_larger_value_episode_0.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2962", |
| "actions_list": [ |
| "move_to(none, napkin_dispenser)", |
| "grasp(napkin)", |
| "pull(napkin, none)", |
| "move_to(napkin, countertop)", |
| "place(napkin, countertop)", |
| "move_to(none, black_cup)", |
| "grasp(black_cup_handle)", |
| "pick_up(black_cup)", |
| "move_to(black_cup, napkin)", |
| "place(black_cup, napkin)" |
| ], |
| "gt_dag": { |
| "move_to(none, napkin_dispenser)": [ |
| "grasp(napkin)" |
| ], |
| "grasp(napkin)": [ |
| "pull(napkin, none)" |
| ], |
| "pull(napkin, none)": [ |
| "move_to(napkin, countertop)" |
| ], |
| "move_to(napkin, countertop)": [ |
| "place(napkin, countertop)" |
| ], |
| "place(napkin, countertop)": [ |
| "move_to(none, black_cup)" |
| ], |
| "move_to(none, black_cup)": [ |
| "grasp(black_cup_handle)" |
| ], |
| "grasp(black_cup_handle)": [ |
| "pick_up(black_cup)" |
| ], |
| "pick_up(black_cup)": [ |
| "move_to(black_cup, napkin)" |
| ], |
| "move_to(black_cup, napkin)": [ |
| "place(black_cup, napkin)" |
| ], |
| "place(black_cup, napkin)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2962.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_41031", |
| "actions_list": [ |
| "move_to(none, door_handle)", |
| "grasp(door_handle)", |
| "pull(door_handle, close)" |
| ], |
| "gt_dag": { |
| "move_to(none, door_handle)": [ |
| "grasp(door_handle)" |
| ], |
| "grasp(door_handle)": [ |
| "pull(door_handle, close)" |
| ], |
| "pull(door_handle, close)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_41031.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-54_episode-1_rgbd-1", |
| "actions_list": [ |
| "move_to(none, speaker)", |
| "grasp(speaker_switch)", |
| "turn(speaker, clockwise, none)" |
| ], |
| "gt_dag": { |
| "move_to(none, speaker)": [ |
| "grasp(speaker_switch)" |
| ], |
| "grasp(speaker_switch)": [ |
| "turn(speaker, clockwise, none)" |
| ], |
| "turn(speaker, clockwise, none)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-54_episode-1_rgbd-1.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2055", |
| "actions_list": [ |
| "move_to(none, first_snack)", |
| "grasp(snack)", |
| "pick_up(snack)", |
| "move_to(snack, purple_plate)", |
| "place(snack, purple_plate)", |
| "move_to(none, first_drink)", |
| "grasp(drink)", |
| "pick_up(drink)", |
| "move_to(drink, white_plate)", |
| "place(drink, white_plate)", |
| "move_to(none, second_drink)", |
| "grasp(drink)", |
| "pick_up(drink)", |
| "move_to(drink, white_plate)", |
| "place(drink, white_plate)", |
| "move_to(none, second_snack)", |
| "grasp(snack)", |
| "pick_up(snack)", |
| "move_to(snack, purple_plate)", |
| "place(snack, purple_plate)", |
| "move_to(none, third_drink)", |
| "grasp(drink)", |
| "pick_up(drink)", |
| "move_to(drink, white_plate)", |
| "place(drink, white_plate)", |
| "move_to(none, third_snack)", |
| "grasp(snack)", |
| "pick_up(snack)", |
| "move_to(snack, purple_plate)", |
| "place(snack, purple_plate)" |
| ], |
| "gt_dag": { |
| "move_to(none, first_snack)": [ |
| "grasp(snack)" |
| ], |
| "grasp(snack)": [ |
| "pick_up(snack)" |
| ], |
| "pick_up(snack)": [ |
| "move_to(snack, purple_plate)" |
| ], |
| "move_to(snack, purple_plate)": [ |
| "place(snack, purple_plate)" |
| ], |
| "place(snack, purple_plate)": [], |
| "move_to(none, first_drink)": [ |
| "grasp(drink)" |
| ], |
| "grasp(drink)": [ |
| "pick_up(drink)" |
| ], |
| "pick_up(drink)": [ |
| "move_to(drink, white_plate)" |
| ], |
| "move_to(drink, white_plate)": [ |
| "place(drink, white_plate)" |
| ], |
| "place(drink, white_plate)": [], |
| "move_to(none, second_drink)": [ |
| "grasp(drink)<1>" |
| ], |
| "move_to(none, second_snack)": [ |
| "grasp(snack)<1>" |
| ], |
| "move_to(none, third_drink)": [ |
| "grasp(drink)<2>" |
| ], |
| "move_to(none, third_snack)": [ |
| "grasp(snack)<2>" |
| ], |
| "grasp(drink)<1>": [ |
| "pick_up(drink)<1>" |
| ], |
| "pick_up(drink)<1>": [ |
| "move_to(drink, white_plate)<1>" |
| ], |
| "move_to(drink, white_plate)<1>": [ |
| "place(drink, white_plate)<1>" |
| ], |
| "place(drink, white_plate)<1>": [], |
| "grasp(snack)<1>": [ |
| "pick_up(snack)<1>" |
| ], |
| "pick_up(snack)<1>": [ |
| "move_to(snack, purple_plate)<1>" |
| ], |
| "move_to(snack, purple_plate)<1>": [ |
| "place(snack, purple_plate)<1>" |
| ], |
| "place(snack, purple_plate)<1>": [], |
| "grasp(drink)<2>": [ |
| "pick_up(drink)<2>" |
| ], |
| "pick_up(drink)<2>": [ |
| "move_to(drink, white_plate)<2>" |
| ], |
| "move_to(drink, white_plate)<2>": [ |
| "place(drink, white_plate)<2>" |
| ], |
| "place(drink, white_plate)<2>": [], |
| "grasp(snack)<2>": [ |
| "pick_up(snack)<2>" |
| ], |
| "pick_up(snack)<2>": [ |
| "move_to(snack, purple_plate)<2>" |
| ], |
| "move_to(snack, purple_plate)<2>": [ |
| "place(snack, purple_plate)<2>" |
| ], |
| "place(snack, purple_plate)<2>": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2055.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2859", |
| "actions_list": [ |
| "move_to(none, cabinet_door_handle)", |
| "grasp(cabinet_door_handle)", |
| "pull(cabinet_door, open)", |
| "move_to(none, green_pepper)", |
| "grasp(green_pepper)", |
| "pick_up(green_pepper)", |
| "move_to(green_pepper, bowl)", |
| "place(green_pepper, bowl)" |
| ], |
| "gt_dag": { |
| "move_to(none, cabinet_door_handle)": [ |
| "grasp(cabinet_door_handle)" |
| ], |
| "grasp(cabinet_door_handle)": [ |
| "pull(cabinet_door, open)" |
| ], |
| "pull(cabinet_door, open)": [ |
| "move_to(none, green_pepper)" |
| ], |
| "move_to(none, green_pepper)": [ |
| "grasp(green_pepper)" |
| ], |
| "grasp(green_pepper)": [ |
| "pick_up(green_pepper)" |
| ], |
| "pick_up(green_pepper)": [ |
| "move_to(green_pepper, bowl)" |
| ], |
| "move_to(green_pepper, bowl)": [ |
| "place(green_pepper, bowl)" |
| ], |
| "place(green_pepper, bowl)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_2859.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3476", |
| "actions_list": [ |
| "move_to(none, cloth)", |
| "grasp(cloth)", |
| "pick_up(cloth)", |
| "move_to(cloth, box)", |
| "place(cloth, box)", |
| "press(cloth)" |
| ], |
| "gt_dag": { |
| "move_to(none, cloth)": [ |
| "grasp(cloth)" |
| ], |
| "grasp(cloth)": [ |
| "pick_up(cloth)" |
| ], |
| "pick_up(cloth)": [ |
| "move_to(cloth, box)" |
| ], |
| "move_to(cloth, box)": [ |
| "place(cloth, box)" |
| ], |
| "place(cloth, box)": [ |
| "press(cloth)" |
| ], |
| "press(cloth)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3476.png" |
| }, |
| { |
| "id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3292", |
| "actions_list": [ |
| "move_to(none, rice_cooker_lid)", |
| "press(rice_cooker_lid)" |
| ], |
| "gt_dag": { |
| "move_to(none, rice_cooker_lid)": [ |
| "press(rice_cooker_lid)" |
| ], |
| "press(rice_cooker_lid)": [] |
| }, |
| "v2": "3_generalized_planning_cross_object_world_knowledge_images_rtx_frames__new_85_85_droid#episode_3292.png" |
| } |
| ] |
