| [ |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_ABCD_episode_2_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Arranging letter blocks to spell \"ABCD\"> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.", |
| "gt_answer": "0-left: move_to(none, 'a'_block),right:no_ops, 1-left:grasp('a'_block),right:no_ops, 2-left:pick_up('a'_block),right:no_ops, 3-left:place('a'_block, left_of_table),right:no_ops, 4-left:move_to(none,'b'_block),right:no_ops, 5-left:grasp('b'_block),right:no_ops, 6-left:pick_up('b'_block),right:no_ops, 7-left:place('b'_block,right_of_'a'_block), right:no_ops, 8-left:no_ops,right:move_to(none, 'd'_block), 9-left:no_ops,right:grasp('d'_block), 10-left:no_ops, right:pick_up('d'_block), 11-left:no_ops,right:place('d'_clock,right_of_'c'_clock)", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png", |
| "cam_high_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_2024_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Arranging blocks to spell \"2024\"> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.", |
| "gt_answer": "0-left:move_to(none, '0'_block), right:no_ops, 1-left:grasp('0'_block), right:no_ops, 2-left:pick_up('0'_block), right:no_ops, 3-left:place('0'_block,left_of_table) right:no_ops, 4-left:move_to(none,'2'_block), right:no_ops, 5-left:grasp('2'_block), right:no_ops, 6-left:pick_up('2'_block),right:no_ops, 7-left:place('2'_block, left_of_'0'_block), right:no_ops, 8-left:no_ops,right:move_to(none,'2'_block), 9-left:no_ops,right:grasp('2'_block), 10-left:no_ops,right:pick_up('2'_block), 11-left:no_ops right:place('2'_block,right_of_'0'_block)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_LEARNING_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Spelling the word \"LEARNING\" with letter blocks.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.", |
| "gt_answer": "0-left:move_to(none,'r'_block), right:no_ops, 1-left:grasp('r'_block), right:no_ops, 2-left:pick_up('r'_block), right:no_ops, 3-left:place('r'_block,left_of_'n'_block), right:no_ops, 4-left:move_to(none,'e'_block), right:no_ops, 5-left:grasp('e'_block), right:no_ops, 6-left:pick_up('e'_block), right:no_ops, 7-left:place('e'_block,right_of_'l'_block), right:no_ops, 8-left:move_to(none,'a'_block), right:no_ops, 9-left:grasp('a'_block), right:no_ops, 10-left: pick_up('a'_block), right:no_ops, 11-left:place('a'_block,right_of_'e'_block), right:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_car_episode_2_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Spelling the word \"car\" with letter magnets.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.", |
| "gt_answer": "0-left:move_to(none, letter_'c'), right:no_ops, 1-left:grasp(letter_'c'), right:no_ops, 2-left:pick_up(letter_'c'), right:no_ops, 3-left:place(letter_'c',left_of_table), right:no_ops, 4-left:no_ops, right:move_to(none,letter_'a'), 5-left:no_ops, right:grasp(letter_'a'), 6-left:no_ops, right:pick_up(letter_'a'), 7-left:no_ops, right:place(letter_'a',right_of_'c'), 8-left:no_ops, right:move_to(none, letter_'r'), 9-left:no_ops, right:grasp(letter_'r'), 10-left:no_ops, right:pick_up(letter_'r'), 11-left:no_ops, right:place(letter_'r',right_of_'a')", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_sky_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Spelling the word \"sky\" using letter magnets.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, letter_'s'), 1-left:no_ops, right:grasp(letter_'s'), 2-left:no_ops, right:pick_up(letter_'s'), 3-left:no_ops, right:place(letter_'s',left_of_table), 4-left:no_ops, right:move_to(none, letter_'k'), 5-left:no_ops, right:grasp(letter_'k'), 6-left:no_ops, right:pick_up(letter_'k'), 7-left:no_ops, right:place(letter_'k',right_of_'s'), 8-left:no_ops, right: move_to(none, letter_'y'), 9-left:no_ops, right:grasp(letter_'y'), 10-left:no_ops, right:pick_up(letter_'y'), 11-left:no_ops, right:place(letter_'y',right_of_'k')", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_line_episode_1_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Drawing a straight line.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,a_straight_line,whiteboard)", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_high_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_cool_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Spelling the word \"cool\" with letter magnets.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, letter_'c'), 1-left:no_ops, right:grasp(letter_'c'), 2-left:no_ops, right:pick_up(letter_'c'), 3-left:no_ops, right:place(letter_'c',left_of_table), 4-left:no_ops, right:move_to(none, letter_'o'), 5-left:no_ops, right:grasp(letter_'o'), 6-left:no_ops, right:pick_up(letter_'o'), 7-left:no_ops, right:place(letter_'o',right_of_'c'), 8-left:no_ops, right:move_to(none, letter_'o'), 9-left:no_ops, right:grasp(letter_'o'), 10-left:no_ops, right:pick_up(letter_'o'), 11-left:no_ops, right:place(letter_'c',right_of_'c'), 12-left:no_ops, right:move_to(none, letter_'l'), 13-left:no_ops, right:grasp(letter_'l'), 14-left:no_ops, right:pick_up(letter_'l'), 15-left:no_ops, right:place(letter_'l',right_of_'c')", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_cross_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Drawing a cross mark.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none,pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,cross,whiteboard)", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_love_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Arranging letter magnets to spell the word \"love\".> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.", |
| "gt_answer": "0-left:move_to(none, letter_'l'), right:no_ops, 1-left:grasp(letter_'l'), right:no_ops, 2-left:pick_up(letter_'l'), right:no_ops, 3-left:place(letter_'l',left_of_table), right:no_ops, 4-left:no_ops, right:move_to(none, letter_'o'), 5-left:no_ops, right:grasp(letter_'o'), 6-left:no_ops, right:pick_up(letter_'o'), 7-left:no_ops, right:place(letter_'o', right_of_'l'), 8-left:no_ops, right:move_to(none, letter_'v'), 9-left:no_ops, right:grasp(letter_'v'), 10-left:no_ops, right:pick_up(letter_'v'), 11-left:no_ops, right:place(letter_'l', right_of_'v'), 12-left:no_ops, right:move_to(none, letter_'e'), 13-left:no_ops, right:grasp(letter_'e'), 14-left:no_ops, right:pick_up(letter_'e'), 15-left:no_ops, right:place(letter_'e', right_of_'v')", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png", |
| "cam_high_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_char_A_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Writing the letter 'A' on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(pen, whiteboard), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,letter_'A',whiteboard)", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_high_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_1_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <inserting a cylinder into a matching hole> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, pink_cylinder_block), 1-left:no_ops, right:grasp(pink_cylinder_block), 2-left:no_ops, right:pick_up(pink_cylinder_block), 3-left:no_ops, right:place(pink_cylinder_block,bracket), 4-left:no_ops, right:grasp(pink_cylinder_block), 5-left:no_ops, right:pick_up(pink_cylinder_block), 6-left:no_ops, right:insert(pink_cylinder_block,slot)", |
| "image_urls": [ |
| "image_side_1_0.png", |
| "image_wrist_1_0.png", |
| "image_wrist_2_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_3_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <inserting a purple object into a designated slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, purple_block), 1-left:no_ops, right:grasp(purple_block), 2-left:no_ops, right:pick_up(purple_block), 3-left:no_ops, right:move_to(purple_object, blue_slotted_platform), 4-left:no_ops, right:place(purple_block, bracket), 5-left:no_ops, right:grasp(purple_block), 6-left:no_ops, right:pick_up(purple_block), 7-left:no_ops, right:insert(purple_block,slot)", |
| "image_urls": [ |
| "image_wrist_1_0.png", |
| "image_side_1_0.png", |
| "image_wrist_2_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_6_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <inserting an oval object into its matching slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "0-left:move_to(none,blue_cylinder_block), right:no_ops, 1-left:grasp(blue_cylinder_block), right:no_ops, 2-left:pick_up(blue_cylinder_block), right:no_ops, 3-left:place(blue_cylinder_block,bracket), right:no_ops, 4-left:grasp(blue_cylinder_block), right:no_ops, 5-left:pick_up(blue_cylinder_block), right:no_ops, 6-left:insert(blue_cylinder_block,slot), right:no_ops", |
| "image_urls": [ |
| "image_side_1_0.png", |
| "image_wrist_1_0.png", |
| "image_wrist_2_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_8_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <inserting a star-shaped object into a matching slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-move_to(none, star_object), 1-pick_up(star_object), 2-move_to(star_object, designated_slot), 3-insert(star, slot)", |
| "image_urls": [ |
| "image_wrist_2_0.png", |
| "image_side_1_0.png", |
| "image_wrist_1_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_9_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <inserting an arch-shaped object into its matching slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-move_to(none, arch_shaped_object), 1-grasp(arch_shaped_object), 2-pick_up(arch_shaped_object), 3-move_to(arch_shaped_object, matching_slot), 4-insert(arch_shaped_object, slot)", |
| "image_urls": [ |
| "image_wrist_1_0.png", |
| "image_side_1_0.png", |
| "image_wrist_2_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_10_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <inserting a cylinder into a designated slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "0-left:move_to(none, blue_cylinder_block), right:no_ops, 1-left:grasp(blue_cylinder_block), right:no_ops, 2-left:pick_up(blue_cylinder_block), right:no_ops, 3-left:place(blue_cylinder_block,bracket), right:no_ops, 4-left:grasp(blue_cylinder_block), right:no_ops, 5-left:pick_up(blue_cylinder_block), right:no_ops, 6-left:insert(blue_cylinder_block,slot), right:no_ops", |
| "image_urls": [ |
| "image_wrist_1_0.png", |
| "image_side_1_0.png", |
| "image_wrist_2_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_DEEP_episode_2_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Spelling the word \"DEEP\" using letter blocks.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.", |
| "gt_answer": "0-left:move_to(none, 'e'_block), right:no_ops, 1-left:grasp('e'_block), right:no_ops, 2-left:pick_up:('e'_block),right:no_ops, 3-left:place('e'_block,table), right:no_ops, 4-left:move_to(none,'e'_block), right:no_ops, 5-left:grasp( 'e'_block), right:no_ops, 6-left:pick_up('e'_block), right:no_ops, 7-left:place('e'_block,right_of_'e'_block), right:no_ops, 8-left:move_to(none, 'd'_block), right:no_ops, 9-left:grasp('d'_block), right:no_ops, 10-left:pick_up('d'_block), right:no_ops, 11-left:place('d'_block,right_'e'_block), right:no_ops, 12-left:no_ops, right:move_to(none,'p'_block), 13-left:no_ops, right:grasp('p'_block), 14-left:no_ops, right:pick_up('p'_block), 15-left:no_ops, right:place('p'_block,right_'e'_block)", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_high_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_flip_calendar_page_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Turning a page of a desk calendar.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, calendar), 1-left:no_ops, right:grasp(top_of_the_current_calendar_page), 2-left:no_ops, right:pick_up(top_of_the_current_calendar_page), 3-left:no_ops, right:turn(page_of_the_calendar,up,backside )", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png", |
| "cam_high_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_11_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <sliding a lid to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "0-move_to(none, lid), 1-grasp(lid), 2-move_to(lid, right)", |
| "image_urls": [ |
| "exterior_image_2_left_0.png", |
| "wrist_image_left_0.png", |
| "exterior_image_1_left_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_28_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <moving a cloth from a screen to a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-move_to(none,cloth_hanging_on_the_screen), 1-grasp(cloth_hanging_on_the_screen), 2-pick_up(cloth_hanging_on_the_screen), 3-place(cloth_hanging_on_the_screen, table)", |
| "image_urls": [ |
| "wrist_image_left_0.png", |
| "exterior_image_1_left_0.png", |
| "exterior_image_2_left_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_29_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Pour the contents of the orange bowl into the green bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-move_to(none, orange_bowl), 1-grasp(orane_bowl), 2-pick_up(orange_bowl), 3-pour(orange_bowl,rice ,green_bowl)", |
| "image_urls": [ |
| "exterior_image_1_left_0.png", |
| "exterior_image_2_left_0.png", |
| "wrist_image_left_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_30_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <moving a plush toy from a pot to a sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-move_to(none, pot), 1-grasp(plush_toy), 2-pick_up(plush_toy), 3-place(plush_toy, sink)", |
| "image_urls": [ |
| "exterior_image_2_left_0.png", |
| "exterior_image_1_left_0.png", |
| "wrist_image_left_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_flowering_fake_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Watering a plant.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, kettle), 1-left:no_ops, right:grasp(kettle), 2-left:no_ops, right:pick_up(kettle), 3-left:no_ops, right:pour(kettle,water,plant)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_plug_charger_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a charger into a socket.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-right:move_to(none, charger),left:no_ops, 1-right:grasp(charger),left:no_ops, 2-right:pick_up(charger),left:no_ops, 3-transfer(right, left, charger), 4-left:insert(charger, socket), right:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_pull_trash_can_episode_17_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Removing a garbage bag from a trash can and placing it on a table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, trash_can), right:no_ops, 1-left:grasp(trash_can_cover), right:move_to(none, trash_can), 2-left:pick_up(trash_can_cover), right:grasp(garbage_bag), 3-right:no_ops, left:pick_up(garbage_bag), 4-left:no_ops, right:place(garbage_bag,table)", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_high_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/aloha_mobile_cabinet_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <storing a pot inside a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.", |
| "gt_answer": "0-left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle), 1-left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle), 2-left:pull(cabinet,open),right:pull(cabinet,open), 3-left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle), 4-left:grasp(left_pot_handle),right:grasp(right_pot_handle), 5-left:pick_up(pot),right:pick_up(pot), 6-left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet), 7-left:place(pot,inside_cabinet),right:place(pot,inside_cabinet), 8-left:grasp(left_pot_handle),right:grasp(right_pot_handle), 9-left:push(cabinet,close),right:push(cabinet,close)", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_high_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_check_mark_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Drawing a check mark.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none,pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,check_mark,whiteboard)", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_high_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_121_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <moving a gray doll to the left side of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-move_to(none, gray_doll), 1-grasp(gray_doll), 2-pick_up(gray_doll), 3-place(gray_doll, middle_of_table)", |
| "image_urls": [ |
| "exterior_image_1_left_0.png", |
| "exterior_image_2_left_0.png", |
| "wrist_image_left_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_33111_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <Rotate the letter A to the right one> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-move_to(none, letter_'a'), 1-grasp(letter_'a'), 2-pick_up(letter_'a'), 3-turn(letter_'a',clockwise,middle_of_table)", |
| "image_urls": [ |
| "exterior_image_2_left_0.png", |
| "exterior_image_1_left_0.png", |
| "wrist_image_left_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_147_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <moving a purple toy from a bowl to a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-move_to(none, purple_toy), 1-grasp(purple_toy), 2-pick_up(purple_toy), 3-place(purple_toy, table)", |
| "image_urls": [ |
| "exterior_image_1_left_0.png", |
| "exterior_image_2_left_0.png", |
| "wrist_image_left_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_19660_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <moving a bowl to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-move_to(none, bowl), 1-grasp(bowl), 2-pick_up(bowl), 3-place(bowl, right_table)", |
| "image_urls": [ |
| "wrist_image_left_0.png", |
| "exterior_image_1_left_0.png", |
| "exterior_image_2_left_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_195_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <placing a marker in a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-move_to(none, marker), 1-grasp(marker), 2-pick_up(marker), 3-place(marker, middle_of_bowl)", |
| "image_urls": [ |
| "exterior_image_1_left_0.png", |
| "exterior_image_2_left_0.png", |
| "wrist_image_left_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_310_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "single-arm", |
| "question": "With <removing a lid from a pot and placing it on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-move_to(none, pot_lid), 1-grasp(pot_lid), 2-pick_up(pot_lid), 3-place(lid, table)", |
| "image_urls": [ |
| "wrist_image_left_0.png", |
| "exterior_image_1_left_0.png", |
| "exterior_image_2_left_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_7_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable,phone), right:hold(phone)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_11_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pcik_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone), right:hold(phone)", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_high_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_13_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone), right:hold(phone)", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_22_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable,phone), right:hold(phone)", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_28_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone_charging_port), right:hold(phone)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_30_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone), right:hold(phone)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_flip_bottle_episode_6_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Inverting a plastic bottle.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "0-right:move_to(none, bottle), left:no_ops, 1-right:grasp(bottle), left:no_ops, 2-right:pick_up(bottle), left:no_ops, 3-right:turn(bottle,anticlockwise,inverted),left:no_ops, 4-transfer(right,left,bottle), 5-left:place(bottle,table),right:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_flip_bottle_episode_14_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Flipping a bottle upside down.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-left: no_ops, right:move_to(none, bottle), 1-left: no_ops, right:grasp(bottle), 2-left: no_ops, right:pick_up(bottle), 3-left: no_ops, right:turn(bottle, clockwise, inverted), 4-left: no_ops, right:place(bottle, table)", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png", |
| "cam_high_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_0_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Throwing paper balls into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.", |
| "gt_answer": "0-left:move_to(none,brown_paper_ball), right:no_ops, 1-left:grasp(brown_paper_ball), right:no_ops, 2-left:pick_up(brown_paper_ball), right:no_ops, 3-left:place(brown_paper_ball, trash_can), right:no_ops, 4-left:move_to(none,white_paper_ball), right:no_ops, 5-left:grasp(white_paper_ball), right:no_ops, 6-left:pick_up(white_paper_ball), right:no_ops, 7-left:place(white_paper_ball, trash_can), right:no_ops, 8-left: no_ops, right:move_to(none,patterned_paper_ball), 9-left: no_ops, right:grasp(patterned_paper_ball), 10-left: no_ops, right:pick_up(patterned_paper_ball), 11-left: no_ops, right:place(patterned_paper_ball, trash_can), 12-left: no_ops, right:move_to(none,paper_ball), 13-left: no_ops, right:grasp(paper_ball), 14-left: no_ops, right:pick_up(paper_ball), 15-left: no_ops, right:place(paper_ball, trash_can)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_4_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Throwing paper balls into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.", |
| "gt_answer": "0-left:move_to(none, paper_ball), right:no_ops, 1-left:grasp(paper_ball), right:no_ops, 2-left:pick_up(paper_ball), right:no_ops, 3-left:place(paper_ball, trash_can), right:no_ops, 4-left:move_to(none, paper_ball), right:no_ops, 5-left:grasp(paper_ball), right:no_ops, 6-left:pick_up(paper_ball), right:no_ops, 7-left:place(paper_ball, trash_can), right:no_ops, 8-left:move_to(none, paper_ball), right:no_ops, 9-left:grasp(paper_ball), right:no_ops, 10-left:pick_up(paper_ball), right:no_ops, 11-left:place(paper_ball, trash_can), right:no_ops, 12-left:no_ops, right:move_to(none, paper_ball), 13-left:no_ops, right:grasp(paper_ball), 14-left:no_ops, right:pick_up(paper_ball), 15-left:no_ops, right:place(paper_ball, trash_can)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_13_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Throwing rubbish into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-right:move_to(none, paper_ball), left:no_ops, 1-right:grasp(paper_ball), left:no_ops, 2-right:pick_up(paper_ball), left:no_ops, 3-right:place(paper_ball, inside_trash_can), left:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_14_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Throwing rubbish into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-right:move_to(none, paper_ball), left:no_ops, 1-right:grasp(paper_ball), left:no_ops, 2-right:pick_up(paper_ball), left:no_ops, 3-right:place(paper_ball, inside_trash_can), left:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_4_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a USB-C cable into a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_5_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Connecting a USB-C cable to a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_11_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a Type-C cable into a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_14_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a USB-C cable into a charging brick.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_15_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Plugging a cable into a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Moving a backpack from a chair to a desk.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, backpack), right:no_ops, 1-left:grasp(backpack), right:no_ops, 2-left:pick_up(backpack), right:no_ops, 3-left:place(backpack, desk), right:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_18_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Placing a backpack on a desk.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, backpack), right:no_ops, 1-left:grasp(backpack), right:no_ops, 2-left:pick_up(backpack), right:no_ops, 3-left:place(backpack, desk), right:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_orange_into_bag_episode_11_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Pick up an orange.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange,inside_bag), right:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png", |
| "cam_high_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_tape_into_bag_episode_18_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Placing tape into a bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-right:move_to(none, tape), left:no_ops, 1-right:grasp(tape), left:no_ops, 2-right:pick_up(tape), left:no_ops, 3-right:place(tape, inside_bag), left:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_tomato_to_desk_episode_16_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Picking up a can and placing it on the table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, can), 1-left:no_ops, right:grasp(can), 2-left:no_ops, right:pick_up(can), 3-left:no_ops, right:place(can, right_side_of_the_table)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_place_octopus_upright_episode_12_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Righting an octopus plushie.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, octopus_plushie), 1-left:no_ops, right:grasp(octopus_plushie), 2-left:no_ops, right:pick_up(octopus_plushie), 3-left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,), 4-transfer(left, right, octopus_plushie), 5-right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table), 6-right:no_ops, left:place(octopus_plushie,table)", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png", |
| "cam_high_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pull_chair_episode_8_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Pulling a chair from under a desk.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, chair), 1-left:no_ops, right:grasp(right_side_of_the_chair), 2-left:no_ops, right:pull(chair, behind)", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_9_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Packing clothes into a backpack.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, gray_clothes), right:no_ops, 1-left:grasp(gray_clothes), right:no_ops, 2-left:pick_up(gray_clothes), right:no_ops, 3-left:place(gray_clothes, backpack), right:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_2_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Placing two oranges into a paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.", |
| "gt_answer": "0-left:move_to(none,orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none,orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_6_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Placing two oranges into a paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.", |
| "gt_answer": "0-left:move_to(none,orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none,orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_7_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Put an orange into the paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.", |
| "gt_answer": "0-left:move_to(none, orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none, orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png", |
| "cam_high_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_8_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Put an orange into the paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.", |
| "gt_answer": "0-right:move_to(none, first_orange), left:no_ops, 1-right:grasp(first_orange), left:no_ops, 2-right:pick_up(first_orange), left:no_ops, 3-right:place(first_orange, bag), left:no_ops, 4-right:move_to(none, second_orange), left:no_ops, 5-right:grasp(second_orange), left:no_ops, 6-right:pick_up(second_orange), left:no_ops, 7-right:place(second_orange, bag), left:no_ops", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_high_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_10_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Placing two oranges into a paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.", |
| "gt_answer": "0-left:move_to(none,orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none,orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_2_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.", |
| "gt_answer": "0-left:move_to(none, sponge), right:no_ops, 1-left:grasp(sponge), right:no_ops, 2-left:pick_up(sponge), right:no_ops, 3-left:wipe(sponge, left_surface,table), right:no_ops, 4-left:place(sponge,middle_table), right:no_ops, 5-rgiht:move_to(none, sponge), right:no_ops, 6-right:grasp(sponge), left:no_ops, 7-right:pick_up(sponge), left:no_ops, 8-right:wipe(sponge,right_surface,table), left:no_ops, 9-right:place(sponge,middle_table), left:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_5_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.", |
| "gt_answer": "0-right:move_to(none, sponge), left:no_ops, 1-right:grasp(sponge), left:no_ops, 2-right:pick_up(sponge), left:no_ops, 3-right:wipe(sponge,right_surface,table), left:no_ops, 4-right:place(sponge,middle_of_table),left:no_ops, 5-left:move_to(none, sponge), right:no_ops, 6-left:grasp(sponge), right:no_ops, 7-left:pick_up(sponge), right:no_ops, 8-left:wipe(sponge,left_surface,table), right:no_ops, 9-left:place(sponge,middle_of_table),right:no_ops", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_high_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_9_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.", |
| "gt_answer": "0-right:move_to(none, sponge), left:no_ops, 1-right:grasp(sponge), left:no_ops, 2-right:pick_up(sponge), left:no_ops, 3-right:wipe(sponge, right_surface,table), left:no_ops, 4-right:place(sponge,middle_of_table),left:no_ops, 5-left:move_to(none, sponge), right:no_ops, 6-left:grasp(sponge), right:no_ops, 7-left:pick_up(sponge), right:no_ops, 8-left:wipe(sponge,left_surface,table), right:no_ops, 9-left:place(sponge,middle_of_table),right:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_11_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.", |
| "gt_answer": "0-left:move_to(none, sponge), right:no_ops, 1-left:grasp(sponge), right:no_ops, 2-left:pick_up(sponge), right:no_ops, 3-left:wipe(sponge,left_surface,table), right:no_ops, 4-left:place(sponge,middle_of_table),right:no_ops, 5-right:move_to(none, sponge), left:no_ops, 6-right:grasp(sponge), left:no_ops, 7-right:pick_up(sponge), left:no_ops, 8-right:wipe(sponge,right_surface,table), left:no_ops, 9-right:place(sponge,middle_of_table),left:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Retrieving a glasses case from a bag and placing it on a 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": "0-left:move_to(none, bag), right:move_to(none,glass_case), 1-left:grasp(bag_handle), right:grasp(glass_case), 2-left:pick_up(bag), right:pick_up(glass_case), 3-left:no_ops, right:move_to(glasses_case,table), 4-left:place(bag,table), right:place(glasses_case, table)", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_high_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Retrieving a glasses case from a bag and placing it on a 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": "0-left:move_to(none, bag), right:move_to(none,glass_case), 1-left:grasp(bag_handle), right:grasp(glass_case), 2-left:pick_up(bag), right:pick_up(glass_case), 3-left:no_ops, right:move_to(glasses_case,table), 4-left:place(bag,table), right:place(glasses_case, table)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_4_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Removing a pen cap.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, pen_body), 1-left:move_to(none, pen_cap), right:grasp(pen_body), 2-left:grasp(pen_cap), right:pick_up(pen_body), 3-left:pullout(pen_cap,pen) right:hold(pen_body), 4-left:place(pen_cap,table), right:place(pen_body, table)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_10_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Removing a pen cap.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, pen_body), 1-left:move_to(none, pen_cap), right:grasp(pen_body), 2-left:grasp(pen_cap), right:pick_up(pen_body), 3-left:pullout(pen_cap,pen) right:hold(pen_body), 4-left:place(pen_cap,table), right:place(pen_body, table)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_13_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Removing a pen cap.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none, pen_body), 1-left:move_to(none, pen_cap), right:grasp(pen_body), 2-left:grasp(pen_cap), right:pick_up(pen_body), 3-left:pullout(pen_cap,pen) right:hold(pen_body), 4-left:place(pen_cap,table), right:place(pen_body, table)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_5_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Turning off a light switch.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "0-left:move_to(none, light_switch), right:no_ops, 1-left:grasp(switch), right:no_ops, 2-left:press(switch), right:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_7_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Turning off a light switch.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "0-left:move_to(none, switch), right:no_ops, 1-left:grasp(switch), right:no_ops, 2-left:press(switch), right:no_ops", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png", |
| "cam_high_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_8_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Turning off a light switch.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.", |
| "gt_answer": "0-left:move_to(none, switch), right:no_ops, 1-left:grasp(switch), right:no_ops, 2-left:press(switch), right:no_ops", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_unwind_charging_cable_episode_10_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Straightening a charging cable.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.", |
| "gt_answer": "0-left:move_to(none, charging_cable), right:no_ops, 1-left:grasp(charging_cable), right:no_ops, 2-left:pick_up(charging_cable), right:no_ops, 3-left:no_ops, right:grasp(other_ end_charging), 4-left:pull(charging,straight), right:pull(charging,straight)", |
| "image_urls": [ |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png", |
| "cam_high_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_unzip_the_bag_episode_7_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Opening a zippered file bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:no_ops,right:move_to(none, bag), 1-right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper), 2-right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper), 3-right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_cup_1_episode_5_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Filling a mug with water from a faucet.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, faucet), right:move_to(none, mug), 1-left:grasp(faucet), right:grasp(mug), 2-left:no_ops, right:pick_up(mug), 3-left:turn_on(faucet), right:place(mug,faucet)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_right_wrist_0.png", |
| "cam_left_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_cup_3_episode_4_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Rinsing a mug.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none,faucet), right:move_to(none, mug), 1-left:no_ops, right:grasp(mug), 2-left:no_ops right:pick_up(mug), 3-left:turn_on(faucet),right:place(mug,faucet)", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_high_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_water_episode_12_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Filling a mug with water from a faucet.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, faucet), right:move_to(none, mug), 1-left:grasp(faucet), right:grasp(mug), 2-left:no_ops, right:pick_up(mug), 3-left:turn_on(faucet), right:place(mug,faucet)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_water_plant_1_episode_13_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Watering a plant.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-right:move_to(none, watering_can), left:no_ops, 1-right:grasp(watering_can), left:no_ops, 2-right:pick_up(watering_can), left:no_ops, 3-right:pour(watering_can,water,plant), left:no_ops", |
| "image_urls": [ |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png", |
| "cam_high_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_3_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Writing \"Hi!\" on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none,marker), 1-left:no_ops, right:grasp(marker), 2-left:no_ops, right:pick_up(marker), 3-right:draw(marker,'H', whiteboard), 4-right:draw(marker,'i', whiteboard), 5-right:draw(marker,'!', whiteboard)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_14_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Writing \"Hi!\" on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.", |
| "gt_answer": "0-left:no_ops, right:move_to(none,marker), 1-left:no_ops, right:grasp(marker), 2-left:no_ops, right:pick_up(marker), 3-left:no_ops, right:draw(marker'H', whiteboard), 4-left:no_ops:, right:draw(marker,'i', whiteboard), 5-left:no_ops:, right:draw(marker,'!', whiteboard)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| }, |
| { |
| "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_zip_the_bag_episode_7_Q1", |
| "task_type": [ |
| "3_generalized_planning", |
| "cross_view", |
| "multi_view" |
| ], |
| "input_type": "video", |
| "robotic_type": "dual-arm", |
| "question": "With <Closing a zipper on a plastic file bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.", |
| "gt_answer": "0-left:move_to(none, plastic_file_bag), right:no_ops, 1-left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper), 2-left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper), 3-left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)", |
| "image_urls": [ |
| "cam_high_0.png", |
| "cam_left_wrist_0.png", |
| "cam_right_wrist_0.png" |
| ] |
| } |
| ] |
