Datasets:

LeoFan01
/

RoboBench

	[
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1036_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <draw a shower curtain> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-move_to(none, left_edge_of_the_shower_curtain),2-grasp(left_edge_of_the_shower_curtain),3-pull(left_edge_of_the_shower_curtain, left_side_of_the_shower_curtain)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1036_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <draw a shower curtain> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(left_edge_of_the_shower_curtain)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1036_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <draw a shower curtain> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_edge_of_the_shower_curtain) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_476_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <turning on a light> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-press(light_switch)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_476_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <turning on a light> as the goal, steps so far are shown in the video, is step 1-move_to(none, light_switch) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_313_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <turn on the light> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-press(light_switch)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_313_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <turn on the light> as the goal, steps so far are shown in the video, is step 1-move_to(none, light_switch) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_960_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <opening a door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
	"gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-turn(door_handle,clockwise, open),4-push(door)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_960_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <opening a door> as the goal, steps so far are shown in the video, is step 1-move_to(none, door_handle) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1137_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <opening a door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-pull(door)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1137_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <opening a door> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pull(door)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1137_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <opening a door> as the goal, steps so far are shown in the video, is step 2-grasp(door_handle) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_398_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <open a shower curtain> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-move_to(none, shower_curtain),2-grasp(show_curtain),3-pull(show_curtain, right_side_of_the_shower_curtain)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_398_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <open a shower curtain> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(show_curtain)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_398_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <open a shower curtain> as the goal, steps so far are shown in the video, is step 1-move_to(none, shower_curtain) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_27_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <turn the faucet straight> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, faucet),2-grasp(faucet),3-turn(faucet, clockwise, middle_of_the_sink),4-move_to(none, faucet_handle),5-press(faucet_handle)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_27_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <turn the faucet straight> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-turn(faucet, clockwise, middle_of_the_sink)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_27_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <turn the faucet straight> as the goal, steps so far are shown in the video, is step 2-grasp(faucet) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_88658_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Close the curtains> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-move_to(none, left_edge_of_the_curtain),2-grasp(left_edge_of_the_curtain),3-pull(left_edge_of_the_curtain, right_side_of_the_curtain)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_88658_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Close the curtains> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pull(left_edge_of_the_curtain, right_side_of_the_curtain)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_88658_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Close the curtains> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_edge_of_the_curtain) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_40_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <opening a door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
	"gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-turn(door_handle, anticlockwise, open),4-move_to(none, door),5-grasp(door),6-pull(door, inward)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_40_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <opening a door> as the goal, steps so far are shown in the video, is step 2-grasp(door_handle) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_8_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <cover the white bucket with red lid> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(red_lid_handle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_8_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <cover the white bucket with red lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, red_lid) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_616_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the upright jar in the box flat> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, can),2-grasp(can),3-pick_up(can),4-turn(can, anticlockwise, parallel_to_the_box),5-place(can, box)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_616_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the upright jar in the box flat> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(can)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_616_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the upright jar in the box flat> as the goal, steps so far are shown in the video, is step 2-grasp(can) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_830_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put pink and brown towels in the plastic bag> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-place(pink_towel, plastic_bag)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_830_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put pink and brown towels in the plastic bag> as the goal, steps so far are shown in the video, is step 6-move_to(none, brown_towel) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1189_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <open the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
	"gt_answer": "1-move_to(none, trash_can_switch),2-press(trash_can_switch)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_224_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <picking up a paper cup and placing it upright on a tray> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, paper_cup),2-grasp(paper_cup),3-pick_up(paper_cup),4-turn(papaer_cup, anticlockwise, vertical_to_the_tray),5-place(paper_cup, tray)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_224_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <picking up a paper cup and placing it upright on a tray> as the goal, steps so far are shown in the video, is step 2-grasp(paper_cup) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1262_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(cloth),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, pot),5-wipe(cloth, none, pot)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1262_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a pan> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(cloth)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1262_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a pan> as the goal, steps so far are shown in the video, is step 4-move_to(cloth, pot) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_493_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the paper ball in the trash> as the goal, steps so far are shown in the video, is step 4-move_to(paper_ball, trash_can) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1264_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the can from the sink on the counter> as the goal, steps so far are shown in the video, is step 1-move_to(none, can_in_the_sink) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_41031_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <closing a door and turning off the light> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, door_handle),2-grasp(door_handle),3-pull(door),4-move_to(none, light_button),5-press(light_button)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_41031_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <closing a door and turning off the light> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pull(door)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_41031_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <closing a door and turning off the light> as the goal, steps so far are shown in the video, is step 3-pull(door) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1197_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the red, green, yellow, and blue blocks in a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "9-move_to(green_block, bowl), 10-place(green_block, bowl), 11-move_to(none, yellow_block), 12-grasp(yellow_block), 13-pick_up(yellow_block), 14-move_to(yellow_block, bowl), 15-place(yellow_block, bowl), 16-move_to(none, blue_block), 17-grasp(blue_block), 18-pick_up(blue_block), 19-move_to(blue_block, bowl), 20-place(blue_block, bowl)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_33_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <picking up a pen> as the goal, steps so far are shown in the video, is step 1-move_to(none, pen) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_301_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <close the door of the cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-move_to(none, left_cabinet_door),2-grasp(left_door_handle_of_the_cabinet),3-push(cabinet_door)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_301_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <close the door of the cabinet> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(left_door_handle_of_the_cabinet)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_301_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <close the door of the cabinet> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_cabinet_door) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_598_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the objects on the table in a plastic bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 45 steps.",
	"gt_answer": ",1-grasp(white_bottle),2-pick_up(white_bottle),3-place(white_bottle, plastic_bag),4-grasp(brown_bottle),5-pick_up(brown_bottle),6-place(brown_bottle, plastic_bag),7-grasp(blue_bottle),8-pick_up(blue_bottle),9-place(blue_bottle, plastic_bag),10-grasp(orange_bottle),11-pick_up(orange_bottle),12-place(orange_bottle, plastic_bag),13-grasp(pink_bottle),14-pick_up(pink_bottle),15-place(pink_bottle, plastic_bag),16-grasp(yellow_bottle),17-pick_up(yellow_bottle),18-place(yellow_bottle, plastic_bag),19-grasp(purple_bottle),20-pick_up(purple_bottle),21-place(purple_bottle, plastic_bag),22-grasp(strawberry),23-pick_up(strawberry),24-place(strawberry, plastic_bag),25-grasp(brown_doll),26-pick_up(brown_doll),27-place(brown_doll, plastic_bag)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_598_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the objects on the table in a plastic bag> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "9-place(blue_bottle, plastic_bag), 10-grasp(orange_bottle), 11-pick_up(orange_bottle), 12-place(orange_bottle, plastic_bag), 13-grasp(pink_bottle), 14-pick_up(pink_bottle), 15-place(pink_bottle, plastic_bag), 16-grasp(yellow_bottle), 17-pick_up(yellow_bottle), 18-place(yellow_bottle, plastic_bag), 19-grasp(purple_bottle), 20-pick_up(purple_bottle), 21-place(purple_bottle, plastic_bag), 22-grasp(strawberry), 23-pick_up(strawberry), 24-place(strawberry, plastic_bag), 25-grasp(brown_doll), 26-pick_up(brown_doll), 27-place(brown_doll, plastic_bag)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_598_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the objects on the table in a plastic bag> as the goal, steps so far are shown in the video, is step 2-pick_up(white_bottle) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1160_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the lid on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(pot_lid_handle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1160_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the lid on the table> as the goal, steps so far are shown in the video, is step 2-grasp(pot_lid_handle) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1102_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the shoes lying down straight> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
	"gt_answer": "1-move_to(none, left_shoe),2-grasp(left_shoe),3-turn(left_shoe, clockwise, parallel_to_the_desktop),4-place(left_shoe, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1102_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the shoes lying down straight> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-turn(left_shoe, clockwise, parallel_to_the_desktop)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1102_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the shoes lying down straight> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_shoe) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_334_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <pouring a drink into a glass> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, can),2-grasp(can),3-pick_up(can),4-move_to(can, glass),5-pour(can, water, glass),6-move_to(can, table),7-place(can, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_334_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <pouring a drink into a glass> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(can)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_334_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <pouring a drink into a glass> as the goal, steps so far are shown in the video, is step 2-grasp(can) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_604_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Close the rightmost door and open the middle door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
	"gt_answer": "1-move_to(none, rightmost_door),2-grasp(rightmost_door),3-push(rightmost_door, close),4-move_to(none, middle_door_handle),5-grasp(middle_door_handle),6-pull(middle_door, open)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_604_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Close the rightmost door and open the middle door> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "4-move_to(none, middle_door_handle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_604_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Close the rightmost door and open the middle door> as the goal, steps so far are shown in the video, is step 3-push(rightmost_door, close) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_757_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the dish in the microwave> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
	"gt_answer": "1-move_to(none, white_dish),2-grasp(white_dish),3-pick_up(dish),4-move_to(dish, microwave),5-place(dish, microwave),6-move_to(none, microwave_door),7-grasp(microwave_door),8-push(microwave_door,close)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_757_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the dish in the microwave> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "6-move_to(none, microwave_door)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_757_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the dish in the microwave> as the goal, steps so far are shown in the video, is step 1-move_to(none, white_dish) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_360_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <pick a pen from a bowl and place it on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, pen) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_408_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <throwing trash into the 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": "1-move_to(none, rightest_trash),2-grasp(rightest_trash),3-pick_up(rightest_trash),4-move_to(rightest_trash, trash_can),5-place(rightest_trash, trash_can),6-move_to(none, second_trash_on_the_left),7-grasp(second_trash_on_the_left),8-pick_up(second_trash_on_the_left),9-move_to(second_trash_on_the_left, trash_can),10-place(second_trash_on_the_left, trash_can),11-move_to(none, third_trash_on_the_left),12-grasp(third_trash_on_the_left),13-pick_up(third_trash_on_the_left),14-move_to(third_trash_on_the_left, trash_can),15-place(third_trash_on_the_left, trash_can),16-move_to(none, leftest_trash),17-grasp(leftest_trash),18-pick_up(leftest_trash),19-move_to(leftest_trash, trash_can),20-place(leftest_trash, trash_can)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_408_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <throwing trash into the trash can> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-place(rightest_trash, trash_can)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_408_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <throwing trash into the trash can> as the goal, steps so far are shown in the video, is step 7-grasp(second_trash_on_the_left) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_409_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <picking up trash from a sink and placing it on the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, trash),2-grasp(trash),3-pick_up(trash),4-move_to(trash, countertop),5-place(trash, countertop)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_409_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <picking up trash from a sink and placing it on the counter> as the goal, steps so far are shown in the video, is step 1-move_to(none, trash) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_17_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pick up the paint from the bowl and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, paint),2-grasp(paint),3-pick_up(paint),4-move_to(paint, table),5-place(paint, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_17_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pick up the paint from the bowl and place it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(paint)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_17_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pick up the paint from the bowl and place it on the table> as the goal, steps so far are shown in the video, is step 2-grasp(paint) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_432_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the white bottle, yellow bottle, blue bottle, green bottle, and brown bottle on the plate> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "7-grasp(blue_bottle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_432_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the white bottle, yellow bottle, blue bottle, green bottle, and brown bottle on the plate> as the goal, steps so far are shown in the video, is step 4-grasp(yellow_bottle) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_684_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <close the white drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-move_to(none, white_drawer_handle),2-grasp(white_drawer_handle),3-push(white_drawer, inward)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_326_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <scooping sprinkles into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
	"gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-scoop(spoon, sprinkles, plate),5-move_to(spoon_with_sprinkles, cup),6-pour(spoon, sprinkles, cup),7-move_to(spoon, table),8-place(spoon, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_326_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <scooping sprinkles into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-move_to(spoon_with_sprinkles, cup)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_326_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <scooping sprinkles into a cup> as the goal, steps so far are shown in the video, is step 5-move_to(spoon_with_sprinkles, cup) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_258_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the ropes in the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
	"gt_answer": "1-grasp(first_rope),2-pick_up(first_rope),3-place(first_rope, box),4-grasp(second_rope),5-pick_up(second_rope),6-place(second_rope, box),7-grasp(third_rope),8-pick_up(third_rope),9-place(third_rope, box)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_258_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the ropes in the box> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-pick_up(second_rope)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_258_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the ropes in the box> as the goal, steps so far are shown in the video, is step 3-place(first_rope, box) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_172_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-move_to(none, towel),2-grasp(towel),3-wipe(towel, none, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_172_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a table> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-wipe(towel, none, table)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_172_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1704_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <adding detergent to a washing machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, detergent),2-grasp(detergent),3-pick_up(detergent),4-move_to(detergent, washing_machine_box),5-pour(detergent, detergent, washing_machine_box)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1704_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <adding detergent to a washing machine> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-pour(detergent, detergent, washing_machine_box)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1704_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <adding detergent to a washing machine> as the goal, steps so far are shown in the video, is step 2-grasp(detergent) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1013_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the black socks in a white paper bag> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "4-move_to(black_socks, white_paper_bag)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1013_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the black socks in a white paper bag> as the goal, steps so far are shown in the video, is step 1-move_to(none, black_socks) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_81_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Push the chair under the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-move_to(none, chair),2-grasp(chair),3-push(chair, under_the_table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_123_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the thread in the box> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-place(thread, box)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_123_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the thread in the box> as the goal, steps so far are shown in the video, is step 3-pick_up(thread) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1556_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the fruit on the plate on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.",
	"gt_answer": "1-grasp(first_pear),2-pick_up(first_pear),3-place(first_pear, table),4-grasp(second_pear),5-pick_up(second_pear),6-place(second_pear, table),7-grasp(third_pear),8-pick_up(third_pear),9-place(third_pear, table),10-grasp(fourth_pear),11-pick_up(fourth_pear),12-place(fourth_pear, table),13-grasp(apple),14-pick_up(apple),15-place(apple, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1556_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the fruit on the plate on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "8-pick_up(third_pear)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1556_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the fruit on the plate on the table> as the goal, steps so far are shown in the video, is step 7-grasp(third_pear) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_843_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <pouring pasta into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, pasta),2-grasp(pasta),3-pick_up(pasta),4-move_to(pasta, pot),5-pour(paper_box , pasta, pot),6-move_to(pasta, table),7-place(pasta, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_843_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <pouring pasta into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(pasta)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_843_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <pouring pasta into a pot> as the goal, steps so far are shown in the video, is step 2-grasp(pasta) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_919_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the black blocks on the table into the drawer and close the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 18 steps.",
	"gt_answer": "1-move_to(none, first_black_block),2-grasp(first_black_block),3-pick_up(first_black_block),4-move_to(first_black_block, drawer),5-place(first_black_block, drawer),6-move_to(none, second_black_block),7-grasp(second_black_block),8-pick_up(second_black_block),9-move_to(second_black_block, drawer),10-place(second_black_block, drawer),11-move_to(none, third_black_block),12-grasp(third_black_block),13-pick_up(third_black_block),14-move_to(third_black_block, drawer),15-place(third_black_block, drawer),16-move_to(none, drawer_handle),17-grasp(drawer_handle),18-push(drawer_handle, close)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_919_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the black blocks on the table into the drawer and close the drawer> as the goal, steps so far are shown in the video, is step 6-move_to(none, second_black_block) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_387_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pick up a bowl and place it in the third cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, the_third_cabinet),5-place(bowl, the_third_cabinet)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_387_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pick up a bowl and place it in the third cabinet> as the goal, steps so far are shown in the video, is step 1-move_to(none, bowl) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_2124_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the screwdriver on the table in the drawer and close the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
	"gt_answer": "1-move_to(none, screwdriver),2-grasp(screwdriver),3-pick_up(screwdriver),4-move_to(screwdriver, drawer),5-place(screwdriver, drawer),6-move_to(none, drawer_handle),7-grasp(drawer_handle),8-push(drawer)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_2124_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the screwdriver on the table in the drawer and close the drawer> as the goal, steps so far are shown in the video, is step 4-move_to(screwdriver, drawer) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1479_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <close a washing machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-move_to(none, washing_machine_lid),2-grasp(washing_machine_lid_handle),3-push(washing_machine_lid, close)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1479_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <close a washing machine> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-push(washing_machine_lid, close)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1479_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <close a washing machine> as the goal, steps so far are shown in the video, is step 1-move_to(none, washing_machine_lid) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_687_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pick up the cup on the right side of the table and place it on the left side of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, cup_handle),2-grasp(cup_handle),3-pick_up(cup),4-move_to(cup, left_side_of_the_table),5-place(cup, left_side_of_the_table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_687_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pick up the cup on the right side of the table and place it on the left side of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(cup)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_687_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pick up the cup on the right side of the table and place it on the left side of the table> as the goal, steps so far are shown in the video, is step 2-grasp(cup_handle) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1360_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Stack three cups together> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
	"gt_answer": "1-move_to(none , right_cup),2-move_to(none , right_cup),3-pick_up(right_cup),4-move_to(right_cup, middle_cup),5-place(right_cup, middle_cup),6-move_to(none , middle_cup),7-grasp(middle_cup),8-pick_up(middle_cup),9-move_to(middle_cup, left_cup),10-place(middle_cup, left_cup)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1360_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Stack three cups together> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "6-move_to(none, middle_cup)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_1360_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Stack three cups together> as the goal, steps so far are shown in the video, is step 3-pick_up(right_cup) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_342_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wash the dishes> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
	"gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, under_of_the_faucet),5-place(bowl, under_of_the_faucet),6-move_to(none,faucet_handle),7-grasp(faucet_handle),8-turn(faucet, clockwise, left),9-turn(faucet, anticlockwise, right),10-move_to(none, bowl),11-grasp(bowl),12-pick_up(bowl)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_342_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wash the dishes> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "7-grasp(faucet_handle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_342_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wash the dishes> as the goal, steps so far are shown in the video, is step 2-grasp(bowl) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_261_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the bottles on a plate and put boxes on top of the black cube> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 45 steps.",
	"gt_answer": "1-grasp(orange_bottle),2-pick_up(orange_bottle),3-place(orange_bottle, plate),4-grasp(rightest_white_bottle),5-pick_up(rightest_white_bottlee),6-place(rightest_white_bottle, plate),7-grasp(middle_white_bottle),8-pick_up(middle_white_bottle),9-place(middle_white_bottle, plate),10-grasp(leftest_white_bottle),11-pick_up(leftest_white_bottle),12-place(leftest_white_bottle, plate),13-grasp(brown_bottle),14-pick_up(brown_bottle),15-place(brown_bottle, plate),16-grasp(strawberry),17-pick_up(strawberry),18-place(strawberry, plate),19-grasp(left_big_box),20-pick_up(left_big_box),21-place(left_big_box, black_cube),22-grasp(right_big_box),23-pick_up(right_big_box),24-place(right_big_box, black_cube),25-grasp(small_box),26-pick_up(small_box),27-place(small_box , black_cube)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_261_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the bottles on a plate and put boxes on top of the black cube> as the goal, steps so far are shown in the video, is step 7-grasp(middle_white_bottle) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_20_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wipe the table with a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-move_to(towel),2-grasp(towel),3-wipe(towel, none, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_20_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wipe the table with a towel> as the goal, steps so far are shown in the video, is step 1-move_to(towel) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-85_episode-2_rgbd-1_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping 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": "1-move_to(none, cloth),2-grasp(cloth),3-wipe(cloth, none, table),4-place(cloth, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-85_episode-2_rgbd-1_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a table> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(cloth)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-49_task-85_episode-2_rgbd-1_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a table> as the goal, steps so far are shown in the video, is step 2-grasp(cloth) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <transferring water from a pot to bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
	"gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-move_to(spoon, pot),5-scoop(spoon,water, pot),6-move_to(spoon, glass_bowl),7-pour(spoon,water, glass_bowl),8-move_to(spoon,table),9-place(spoon,table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <transferring water from a pot to bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "6-move_to(spoon, glass_bowl)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-51_task-70_episode-1_rgbd-1_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <transferring water from a pot to bowl> as the goal, steps so far are shown in the video, is step 4-move_to(spoon, pot) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-11_episode-2_rgbd-1_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-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 7 steps.",
	"gt_answer": "1-move_to(none, watering_can_handle),2-grasp(watering_can_handle),3-pick_up(watering_can),4-move_to(watering_can, plant),5-pour(watering_can,water, plant),6-move_to(watering_can, table),7-place(watering_can, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-72_task-11_episode-2_rgbd-1_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <watering a plant> as the goal, steps so far are shown in the video, is step 1-move_to(none, watering_can_handle) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_3936_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the mouse on the mouse pad> as the goal, steps so far are shown in the video, is step 1-move_to(none, mouse) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_arrange_mouse_episode_1845_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the mouse on the mouse pad> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(mouse)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png",
	"frame_15.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_arrange_mouse_episode_1845_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Place the mouse on the mouse pad> as the goal, steps so far are shown in the video, is step 1-move_to(none, mouse) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_fold_towel_episode_815_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <folding a towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_edge_the_towel) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_55_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the water from the bottle into a cup and place on a red mat> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, cup),5-pour(bottle,water, cup),6-move_to(bottle,red_mat),7-place(bottle,red_mat)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_55_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the water from the bottle into a cup and place on a red mat> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-pour(bottle, water, cup)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_55_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the water from the bottle into a cup and place on a red mat> as the goal, steps so far are shown in the video, is step 3-pick_up(bottle) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_369_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the juice from the bottle into a cup and place on a red mat> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-pour(juice_bottle, juice, mug)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_369_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the juice from the bottle into a cup and place on a red mat> as the goal, steps so far are shown in the video, is step 4-move_to(juice_bottle, mug) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_870_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the drink from the bottle into a cup and place on a red mat> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, cup),5-pour(bottle, drink, cup),6-move_to(bottle, red_mat),7-place(bottle, red_mat)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_870_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the drink from the bottle into a cup and place on a red mat> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(bottle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_870_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the drink from the bottle into a cup and place on a red mat> as the goal, steps so far are shown in the video, is step 5-pour(bottle, drink, cup) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_1789_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the water from the bottle into a cup and place on a red mat> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, water_bottle),2-grasp(water_bottle),3-pick_up(water_bottle),4-move_to(water_bottle, cup),5-pour(water_bottle,water, cup),6-move_to(water_bottle, red_mat),7-place(water_bottle, red_mat)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_1789_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the water from the bottle into a cup and place on a red mat> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-pour(water_bottle, water, cup)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_1789_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the water from the bottle into a cup and place on a red mat> as the goal, steps so far are shown in the video, is step 1-move_to(none, water_bottle) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_2434_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the water from the bottle into a cup and place on red mat> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, cup),5-pour(bottle, water, cup),6-move_to(bottle, red_mat),7-place(bottle, red_mat)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_2434_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the water from the bottle into a cup and place on red mat> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "4-move_to(bottle, cup)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/DSL_shrinked_pour_water_episode_2434_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the water from the bottle into a cup and place on red mat> as the goal, steps so far are shown in the video, is step 4-move_to(bottle, cup) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_clean_pour_water_episode_17_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a glass> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, glass),5-pour(bottle, water, glass),,6-move_to(bottle, right_side_of_the_cup),7-place(bottle, right_side_of_the_table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_clean_pour_water_episode_17_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a glass> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(bottle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_clean_pour_water_episode_17_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a glass> as the goal, steps so far are shown in the video, is step 5-pour(bottle, water, glass), finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_5_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Adding ice to a glass> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none,ice_scoop_handle),2-grasp(ice_scoop),3-pick_up(ice_scoop),4-move_to(ice_scoop, glass),5-pour(ice_scoop, ice, glass),6-move_to(ice_scoop, table),7-place(ice_scoop, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_5_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Adding ice to a glass> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(ice_scoop)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_5_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Adding ice to a glass> as the goal, steps so far are shown in the video, is step 4-move_to(ice_scoop, glass) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_9_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring orange juice into a goblet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, orange_juice_measuring_cup),2-grasp(orange_juice_measuring_cup),3-pick_up(orange_juice_measuring_cup),4-move_to(orange_juice_measuring_cup, goblet),5-pour(orange_juice_measuring_cup, juice, goblet),6-move_to(measuring_cup, table),7-place(measuring_cup, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_9_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring orange juice into a goblet> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-pour(orange_juice_measuring_cup, juice, goblet)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_9_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring orange juice into a goblet> as the goal, steps so far are shown in the video, is step 1-move_to(none, orange_juice_measuring_cup) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_12_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring yellow juice from a measuring cup into a goblet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, yellow_juice_measuring_cup),2-grasp(yellow_juice_measuring_cup),3-pick_up(yellow_juice_measuring_cup),4-move_to(yellow_juice_measuring_cup, goblet),5-pour(yellow_juice_measuring_cup, yellow_juice, goblet),6-move_to(measuring_cup, table),7-place(measuring_cup, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_12_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring yellow juice from a measuring cup into a goblet> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(yellow_juice_measuring_cup)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_cocktail_sunset_pineapple_episode_12_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring yellow juice from a measuring cup into a goblet> as the goal, steps so far are shown in the video, is step 3-pick_up(yellow_juice_measuring_cup) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_collect_earphone_episode_0_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Storing earphone case in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
	"gt_answer": "1-left:no_ops, right:move_to(none, earphone_case),2-left:no_ops, right:grasp(earphone_case),3-left:no_ops, right:pick_up(earphone_case),4-left:move_to(none, earphone_case), right:no_ops,5-transfer(right, left, earphone_case),6-left:move_to(earphone_case, drawer), right:no_ops,7-left:place(earphone_case, drawer), right:no_ops,8-left:no_ops, right:move_to(none,drawer_handle),9-left:no_ops, right:grasp(drawer_handle),10-left:no_ops, right:push(drawer, close)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_flowering_fake_episode_13_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Watering a potted plant> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, watering_can_handle),2-grasp(watering_can_handle),3-pick_up(watering_can),4-move_to(watering_can, plant),5-pour(watering_can,water,plant),6-move_to(watering_can,table),7-place(watering_can,table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_flowering_fake_episode_13_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Watering a potted plant> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(watering_can)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_flowering_fake_episode_13_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Watering a potted plant> as the goal, steps so far are shown in the video, is step 4-move_to(watering_can, plant) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_insert_phone_2_episode_5_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"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 7 steps.",
	"gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone),2-left:grasp(charging_cable), right:grasp(phone),3-left:pick_up(charging_cabe), right:pick_up(phone),4-left:move_to(cable, phone_charging_port), right:hold(phone),5-left:insert(cable, phone_charging_port), right:hold(phone),6-left:no_ops, right:move_to(phone, table),7-left:no_ops, right:place(phone,table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_insert_phone_2_episode_23_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Charging a phone> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone),2-left:grasp(charging_cable), right:grasp(phone),3-left:pick_up(charging_cabe), right:pick_up(phone),4-left:move_to(cable, phone_charging_port), right:hold(phone),5-left:insert(cable, phone_charging_port), right:hold(phone),6-left:no_ops, right:move_to(phone, table),7-left:no_ops, right:place(phone,table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_messy_pour_water_episode_14_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, mug),5-pour(bottle, water, mug),6-move_to(bottle, table),7-place(bottle, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_messy_pour_water_episode_14_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a mug> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "6-move_to(bottle, table)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_messy_pour_water_episode_14_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a mug> as the goal, steps so far are shown in the video, is step 4-move_to(bottle, mug) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pick_book_into_backpack_episode_6_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Placing a book into a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
	"gt_answer": "1-left:move_to(none, bag), right:move_to(none,book),2-left:grasp(bag), right:grasp(book),3-left:pick_up(bag), right:pick_up(book),4-left:no_ops, right:move_to(book,bag),5-left:no_ops, right:place(book,bag),6-left:place(bag, table), right:no_ops",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pick_mask_episode_19_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Placing a mask into a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
	"gt_answer": "1-left:move_to(none, mask_box), right:move_to(none,mask),2-left:grasp(mask_box), right:grasp(mask),3-left:pick_up(mask_box), right:pick_up(mask),4-left:no_ops, right:move_to(mask,mask_box),5-left:no_ops, right:place(mask,mask_box),6-left:place(mask_box,table), right:no_ops",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pick_up_the_pen_episode_12_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Placing a pen into a pen holder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
	"gt_answer": "1-left:no_ops, right:move_to(none, pen),2-left:no_ops, right:grasp(pen),3-left:no_ops, right:pick_up(pen),4-transfer(right, left, pen),5-left:move_to(pen, pen_holder), right:no_ops,6-left:place(pen, pen_holder), right:no_ops",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_plug_charger_episode_15_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Plugging a charger into a power strip> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
	"gt_answer": "1-left:no_ops, right:move_to(none, charger),2-left:no_ops, right:grasp(charger),3-left:no_ops, right:pick_up(charger),4-transfer(right,left,charger_cable),5-left:no_ops, right:move_to(none, charger),6-left:no_ops, right:grasp(charger),7-left:no_ops, right:pick_up(charger),8-right:no_ops, left:move_to(charge, plug_in_plates),9-right:no_ops, left:insert(charge,plug_in_plates)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_8_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, thermos),2-grasp(thermos),3-pick_up(thermos),4-move_to(thermos, cup),5-pour(thermos, water, cup),6-move_to(thermos, table),7-place(thermos, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_8_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "5-pour(thermos, water, cup)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_8_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a cup> as the goal, steps so far are shown in the video, is step 5-pour(thermos, water, cup) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_10_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water from a thermos into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, thermos),2-grasp(thermos),3-pick_up(thermos),4-move_to(thermos, glass),5-pour(thermos, water, glass),6-move_to(thermos, table),7-place(thermos, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_10_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water from a thermos into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "4-move_to(thermos, glass)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_10_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water from a thermos into a cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, thermos) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_can2cup_episode_6_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Pouring drink from a can into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, can),2-grasp(can),3-pick_up(can),4-move_to(can, cup),5-pour(can, drink, cup),6-right:move_to(can, table), left:no_ops,7-right:place(can, table), left:no_ops",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the liquid from the dispenser into a goblet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, dispenser),2-grasp(dispenser),3-pick_up(dispenser),4-pour(dispenser,water,glass),5-place(dispenser, original_position)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_jigger2cup_episode_0_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the liquid from the dispenser into a goblet> as the goal, steps so far are shown in the video, is step 2-grasp(dispenser) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_left_hand_episode_15_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, water_bottle),2-grasp(water_bottle),3-pick_up(water_bottle),4-pour(water_bottle,water, mug),5-place(water_bottle, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_left_hand_episode_15_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a mug> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(water_bottle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_pour_water_left_hand_episode_15_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pouring water into a mug> as the goal, steps so far are shown in the video, is step 1-move_to(none, water_bottle) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_push_container_back_to_chips_packaging_episode_9_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Put the potato chips in the potato chip container> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-left:move_to(none, chips_container), right:no_ops,2-left:grasp(chips_container), right:no_ops,3-left:pick_up(chips_container), right:no_ops,4-left:no_ops, right:move_to(none, transparent_container),5-left:no_ops, right:grasp(transparent_container),6-left:no_ops, right:push(transparent_container, close),7-left:place(chips_container, table), right:no_ops",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_push_mirror_surface_episode_11_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Pushing a mirror forward on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
	"gt_answer": "1-left:move_to(none, mirror), right:no_ops,2-left:grasp(mirror), right:no_ops,3-left:push(mirror, inside_the_table), right:no_ops",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_put_glasses_into_box_episode_0_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Place your glasses in the case> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-left:move_to(none, glasses_box), right:move_to(none, glasses),2-left:grasp(glasses_box), right:grasp(glasses),3-left:no_ops, right:pick_up(glasses),4-left:no_ops, right:move_to(glasses, glasses_box),5-left:no_ops, right:place(glasses, glasses_box),6-left:no_ops, right:move_to(glasses_box_lid),7-left:no_ops, right:press(glasses_box_lid)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_put_object_into_cabinet_episode_17_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Storing a can can in a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
	"gt_answer": "1-left:move_to(none, cabinet_left_door_handle), right:move_to(can),2-left:grasp(cabinet_left_door_handle), right:grasp(can),3-left:pull(cabinet_left_door_handle, open), right:pick_up(ccan),4-left:no_ops, right:move_to(can, inside_of_cabinet),5-left:no_ops, right:place(can,inside_of_cabinet),6-left:push(cabinet_left_door_handle, close), right:no_ops",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_14_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Placing a box of snacks into a microwave and closing the door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
	"gt_answer": "1-move_to(none, microwave_handle),2-grasp(microwave_handle),3-pull(microwave_handle,stater_of_open),4-move_to(none,snack_box),5-grasp(snack_box),6-pick_up(snack_box),7-move_to(snack_box, inside_of_microwave),8-place(snack_box, inside_of_microwave),9-move_to(none, microwave_door_handle),10-grasp(microwave_door_handle),11-push(microwave_door_handle,state_of_close)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_14_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Placing a box of snacks into a microwave and closing the door> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "7-move_to(snack_box, inside_of_microwave)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_14_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Placing a box of snacks into a microwave and closing the door> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_handle) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_tian_open_box_pick_bottle_episode_19_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Opening a round container and retrieving a bottle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
	"gt_answer": "1-left:move_to(none, container_lid_left_handle), right:move_to(none, container_lid_right_handle),2-left:grasp(container_lid_left_handle), right:grasp(container_lid_right_handle),3-left:pick_up(container_lid), right:pick_up(container_lid),4-transfer(right, left, container_lid),5-left:move_to(container_lid, table), right:no_ops,6-left:place(container_lid, table), right:no_ops,7-left:move_to(none, medicine_container), right:no_ops,8-left:grasp(medicine_container), right:no_ops,9-left:pick_up(medicine_container), right:no_ops,10-left:move_to(medicine_container, tabletop), right:no_ops,11-left:place(medicine_container, tabletop), right:no_ops",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_unplug_charger_episode_12_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "dual-arm",
	"question": "With <Unplugging a charger> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-left:move_to(none, socket), right:move_to(none, charger_plug),2-left:grasp(socket), right:grasp(charger_plug),3-left:hold(socket), right:pullout(charger_plug, socket),4-left:no_ops, right:move_to(charger_plug, table),5-left:no_ops, right:place(charger_plug, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wash_cup_5_episode_15_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"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 7 steps.",
	"gt_answer": "1-left:move_to(none, faucet_handle), right:move_to(none, mug_handle),2-left:grasp(faucet_handle), right:grasp(mug_handle),3-left:no_ops, right:pick_up(mug),4-left:no_ops, right:move_to(mug, under_of_faucet),5-left:turn(faucet_handle,down,state_of_open), right:hold(mug),6-left:turn(faucet_handle,up,state_of_close), right:move_to(mug,countertop),7-left:no_ops, right:place(mug,countertop)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wash_cup_5_episode_56_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"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 7 steps.",
	"gt_answer": "1-left:move_to(none, faucet_handle), right:move_to(none, mug_handle),2-left:grasp(faucet_handle), right:grasp(mug_handle),3-left:no_ops, right:pick_up(mug),4-left:on_ops, right:move_to(mug, under_of_faucet),5-left:turn(faucet_handle,down,state_of_open), right:hold(mug),6-left:turn(faucet_handle,up,state_of_close), right:move_to(mug,countertop),7-left:no_ops, right:place(mug,countertop)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_water_plant_4_episode_7_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-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 7 steps.",
	"gt_answer": "1-move_to(none, watering_can_handle),2-grasp(watering_can),3-pick_up(watering_can),4-move_to(watering_can, plant),5-pour(watering_can, water,plant),6-move_to(watering_can, table),7-place(watering_can, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_water_plant_4_episode_7_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Watering a plant> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(watering_can)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_water_plant_4_episode_7_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Watering a plant> as the goal, steps so far are shown in the video, is step 2-grasp(watering_can) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_cherry_episode_17_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wiping a spill> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
	"gt_answer": "1-grasp(napkin),2-wipe(wipe, spill, tabletop)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_cherry_episode_17_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wiping a spill> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-wipe(wipe, spill, tabletop)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_cherry_episode_17_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wiping a spill> as the goal, steps so far are shown in the video, is step 1-grasp(napkin) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_desk_episode_19_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wiping a tabletop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
	"gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-wipe(cloth, none , tabletop),4-place(cloth, tabletop)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_desk_episode_19_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wiping a tabletop> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(cloth)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_desk_episode_19_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wiping a tabletop> as the goal, steps so far are shown in the video, is step 2-grasp(cloth) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wiping a table with a sponge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
	"gt_answer": "1-move_to(none, sponge),2-grasp(sponge),3-wipe(sponge, none, right_side_of_table),4-place(sponge, middle_of_table),5-move_to(none, sponge),6-grasp(sponge),7-wipe(sponge, none, left_side_of_table),8-place(sponge, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wiping a table with a sponge> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "4-place(sponge, middle_of_table)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Wiping a table with a sponge> as the goal, steps so far are shown in the video, is step 1-move_to(none, sponge) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14984_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put a piece of cloth behind the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
	"gt_answer": "1-move_to(none, blue_cloth),2-grasp(blue_cloth),3-pull(blue_cloth, behind_the_pot),4-place(napkin, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14984_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put a piece of cloth behind the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(blue_cloth)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14984_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put a piece of cloth behind the pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, blue_cloth) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19807_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <pouring condiment into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
	"gt_answer": "1-move_to(none, condiment_bottle),2-grasp(condiment_bottle),3-pick_up(condiment_bottle),4-pour(condiment_bottle,condiment, pot)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19807_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <pouring condiment into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(condiment_bottle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19807_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <pouring condiment into a pot> as the goal, steps so far are shown in the video, is step 2-grasp(condiment_bottle) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20615_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the cloth on the left side of the basin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
	"gt_answer": "1-move_to(none, purple_cloth),2-grasp(purple_cloth),3-pull(purple_cloth, left_side_of_basin),4-place(purple_cloth, table)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20615_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the cloth on the left side of the basin> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(purple_cloth)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20615_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Put the cloth on the left side of the basin> as the goal, steps so far are shown in the video, is step 1-move_to(none, purple_cloth) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24115_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <placing a sushi roll into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "3-pick_up(sushi_roll)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png",
	"frame_14.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24115_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <placing a sushi roll into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, sushi_roll) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_33581_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the condiment into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
	"gt_answer": "1-move_to(none, condiment_bottle),2-grasp(condiment_bottle),3-pick_up(condiment_bottle),4-move_to(condiment_bottle, bowl),5-pour(condiment_bottle,condiment, bowl)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_33581_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the condiment into a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(condiment_bottle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_33581_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the condiment into a bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, condiment_bottle) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png",
	"frame_08.png",
	"frame_09.png",
	"frame_10.png",
	"frame_11.png",
	"frame_12.png",
	"frame_13.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_33389_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the laundry detergent into the washing machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, detergent_bottle_handle),2-grasp(detergent_bottle_handle),3-pick_up(detergent_bottle),4-move_to(detergent_bottle, washing_machine),5-pour(detergent_bottle, detergent, washing_machine)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_33389_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the laundry detergent into the washing machine> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(detergent_bottle_handle)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_33389_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <Pour the laundry detergent into the washing machine> as the goal, steps so far are shown in the video, is step 2-grasp(detergent_bottle_handle) finished?",
	"gt_answer": "yes",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png",
	"frame_06.png",
	"frame_07.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_39970_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, pan),5-wipe(cloth, none, pan)",
	"image_urls": [
	"frame_00.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_39970_Q2",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a pan> as the goal, steps so far are shown in the video, what is the next step to do?",
	"gt_answer": "2-grasp(cloth)",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png",
	"frame_03.png",
	"frame_04.png",
	"frame_05.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_39970_Q3",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <wiping a pan> as the goal, steps so far are shown in the video, is step 3-pick_up(cloth) finished?",
	"gt_answer": "no",
	"image_urls": [
	"frame_00.png",
	"frame_01.png",
	"frame_02.png"
	]
	},
	{
	"unique_id": "1_instruction_comprehension/explicit_object_goal/images/rtx_frames__new_85_85_droid#episode_64406_Q1",
	"task_type": [
	"1_instruction_comprehension",
	"explicit_object_goal"
	],
	"input_type": "video",
	"robotic_type": "single-arm",
	"question": "With <placing a banana onto a black tray> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
	"gt_answer": "1-move_to(none, banana),2-grasp(banana),3-pick_up(banana),4-move_to(banana, tray),5-place(banana, tray)",
	"image_urls": [
	"frame_00.png"
	]
	}
	]