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RoboBench / 2_perception_reasoning /task_centric /task_instruction_comprehension /questions.json
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 [
{
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"question": "Which object that the robot gripper will hold in hand while executing the removing the mixing attachment from a blender?",
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"question": "Which object that the robot gripper will hold in hand while executing the folding a green towel?",
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"question": "Which object that the robot gripper will hold in hand while executing the placing a booklet on a table?",
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"question": "Which object that the robot gripper will hold in hand while executing the placing a cracker into a snack bag?",
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"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the hang up a telephone cord on the handset?",
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"question": "Which object that the robot gripper will hold in hand while executing the transferring seeds from a plate to a bowl?",
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"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the putting a banana toy into a basket?",
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"question": "Which object that the robot gripper will hold in hand while executing the clicking a mouse?",
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"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the putting zip ties on a box?",
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"question": "Which object that the robot gripper will hold in hand while executing the moving a waste basket to the left side of a desk?",
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"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the throwing a plastic bag into a bin?",
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"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the move a radish plush toy to a bowl?",
"gt_answer": "C",
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"question": "Which object that the robot gripper will hold in hand while executing the stacking tissue rolls?",
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},
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"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the pouring contents from a jar into a bowl?",
"gt_answer": "D",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_10972.png"
],
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"options": [
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"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_80026",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing a timer into a red cup?",
"gt_answer": "D",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_80026.png"
],
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"x1": 0.8844,
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"x1": 0.5,
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"x1": 0.5781,
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"options": [
"A",
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"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_18355",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing an eyeglasses case on a bottle?",
"gt_answer": "D",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_18355.png"
],
"bounding_box_A": {
"x1": 0.4188,
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"x1": 0.2531,
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"x2": 0.3594,
"y2": 1.0
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"x1": 0.8031,
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"x2": 0.9,
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},
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"x1": 0.5969,
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"x2": 0.6813,
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_81131",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a cloth from a clear screen to a table?",
"gt_answer": "D",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_81131.png"
],
"bounding_box_A": {
"x1": 0.5062,
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"x1": 0.1656,
"y1": 0.6889,
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_34776",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the picking up black cable ties from a tray and placing them on a cardboard box lid?",
"gt_answer": "B",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_34776.png"
],
"bounding_box_A": {
"x1": 0.6844,
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"x1": 0.2094,
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},
"bounding_box_C": {
"x1": 0.2906,
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"y2": 0.5889
},
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"x1": 0.5563,
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"x2": 0.6594,
"y2": 0.8278
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_30311",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing a blue scarf on a chair backrest?",
"gt_answer": "C",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_30311.png"
],
"bounding_box_A": {
"x1": 0.6937,
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},
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"x1": 0.5687,
"y1": 0.4444,
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"x1": 0.3344,
"y1": 0.6889,
"x2": 0.5844,
"y2": 0.9944
},
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"x1": 0.6594,
"y1": 0.8889,
"x2": 0.7188,
"y2": 0.9944
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_90975",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a microphone to the right?",
"gt_answer": "C",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_90975.png"
],
"bounding_box_A": {
"x1": 0.1187,
"y1": 0.5889,
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"y2": 0.9944
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"bounding_box_B": {
"x1": 0.5875,
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"bounding_box_C": {
"x1": 0.2875,
"y1": 0.7444,
"x2": 0.4406,
"y2": 0.9944
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"x1": 0.6438,
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"options": [
"A",
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"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_38370",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the unfolding a striped garment?",
"gt_answer": "D",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_38370.png"
],
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"x1": 0.05,
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"x1": 0.2719,
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"x1": 0.1313,
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"x1": 0.5563,
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"x2": 0.7688,
"y2": 0.8
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"options": [
"A",
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"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_49716",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the place a snack package upright?",
"gt_answer": "C",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_49716.png"
],
"bounding_box_A": {
"x1": 0.5031,
"y1": 0.5778,
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"y2": 0.75
},
"bounding_box_B": {
"x1": 0.4125,
"y1": 0.5556,
"x2": 0.4656,
"y2": 0.7056
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"bounding_box_C": {
"x1": 0.325,
"y1": 0.6722,
"x2": 0.4906,
"y2": 0.8778
},
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"x1": 0.2844,
"y1": 0.6222,
"x2": 0.3781,
"y2": 0.7778
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_15107",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the transferring contents from a bowl to a cup?",
"gt_answer": "C",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_15107.png"
],
"bounding_box_A": {
"x1": 0.6687,
"y1": 0.4833,
"x2": 0.7,
"y2": 0.5778
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"bounding_box_B": {
"x1": 0.0688,
"y1": 0.6778,
"x2": 0.1688,
"y2": 0.8
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"bounding_box_C": {
"x1": 0.5437,
"y1": 0.6,
"x2": 0.6312,
"y2": 0.75
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"x1": 0.3906,
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"options": [
"A",
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"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_89816",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving clothes from a chair to a box?",
"gt_answer": "D",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_89816.png"
],
"bounding_box_A": {
"x1": 0.2406,
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"x1": 0.325,
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"x1": 0.1688,
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"x1": 0.4688,
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"options": [
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]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_55634",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the pick up a cloth and put it back down?",
"gt_answer": "C",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_55634.png"
],
"bounding_box_A": {
"x1": 0.45,
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"x1": 0.2906,
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"x1": 0.6156,
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"x1": 0.7812,
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"x2": 0.825,
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"options": [
"A",
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"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_14631",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the pick up a soap dispenser and place it on the counter?",
"gt_answer": "C",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_14631.png"
],
"bounding_box_A": {
"x1": 0.6719,
"y1": 0.2556,
"x2": 0.7312,
"y2": 0.3278
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"bounding_box_B": {
"x1": 0.2562,
"y1": 0.4722,
"x2": 0.35,
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"bounding_box_C": {
"x1": 0.4969,
"y1": 0.3222,
"x2": 0.5531,
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"x1": 0.7719,
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"x2": 0.8094,
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_79150",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the move a piece of pizza plush toy to the right?",
"gt_answer": "B",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_79150.png"
],
"bounding_box_A": {
"x1": 0.6625,
"y1": 0.3667,
"x2": 0.7094,
"y2": 0.4333
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"bounding_box_B": {
"x1": 0.575,
"y1": 0.3222,
"x2": 0.6219,
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"bounding_box_C": {
"x1": 0.7781,
"y1": 0.1833,
"x2": 1.0,
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"x1": 0.0938,
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_63330",
"task_type": [
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"task_centric",
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],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the retrieving a straw pack from a drawer and placing it on a tray?",
"gt_answer": "B",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_63330.png"
],
"bounding_box_A": {
"x1": 0.7937,
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"x1": 0.6375,
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"x1": 0.4625,
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"x1": 0.5844,
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"options": [
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"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_51921",
"task_type": [
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"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing a fork into an open drawer?",
"gt_answer": "C",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_51921.png"
],
"bounding_box_A": {
"x1": 0.5219,
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"x1": 0.1969,
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"x1": 0.6469,
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"x1": 0.3344,
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"options": [
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"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_9516",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the place a rubber duck into a metal cup?",
"gt_answer": "B",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_9516.png"
],
"bounding_box_A": {
"x1": 0.4875,
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"x1": 0.3812,
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"x1": 0.625,
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"x1": 0.6031,
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"options": [
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"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_62567",
"task_type": [
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"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the wiping a pan with a kitchen towel?",
"gt_answer": "A",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_62567.png"
],
"bounding_box_A": {
"x1": 0.3844,
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"x2": 0.6625,
"y2": 0.8056
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"x1": 0.7531,
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"x2": 0.9719,
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"bounding_box_C": {
"x1": 0.6375,
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"x1": 0.8781,
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"options": [
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"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_43426",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the putting a screwdriver into a drawer?",
"gt_answer": "A",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_43426.png"
],
"bounding_box_A": {
"x1": 0.525,
"y1": 0.3611,
"x2": 0.8625,
"y2": 0.95
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"bounding_box_B": {
"x1": 0.6875,
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"x2": 0.775,
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a golf ball to the left side of a table?",
"gt_answer": "A",
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{
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"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the pouring something from a measuring cup into a bowl?",
"gt_answer": "C",
"image_urls": [
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},
{
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a house shoe from a lower shelf to a higher shelf?",
"gt_answer": "C",
"image_urls": [
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},
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"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing a belt into a box on a seat?",
"gt_answer": "A",
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},
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the storing a can in a cabinet?",
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"image_urls": [
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},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_25791",
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"question": "Which object that the robot gripper will hold in hand while executing the sliding the faucet spout to the left?",
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},
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the pull out a tissue from a box?",
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},
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"question": "Which object that the robot gripper will hold in hand while executing the move a fork to the left side of the table?",
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},
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"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing a cable into a paper bag?",
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"image_urls": [
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the pouring cotton swabs from a cup into a bowl?",
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"image_urls": [
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},
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the pour popcorn from a bowl into a lunchbox?",
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"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing a toy pepper into a metal bowl?",
"gt_answer": "D",
"image_urls": [
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},
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"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19451",
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the transferring food from a pot to a counter?",
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},
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"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_1119",
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the placing an orange slice into a pot?",
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},
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"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_41_62_robo_set#episode_15361",
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"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the moving a ketchup bottle from a table to a microwave?",
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},
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"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_5",
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the wiping up a spill?",
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},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_76",
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the wiping up a spill?",
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the picking up a green cup?",
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"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the putting a knife into a drawer?",
"gt_answer": "B",
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},
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the picking up a bowl?",
"gt_answer": "A",
"image_urls": [
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},
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"question": "Which object that the robot gripper will hold in hand while executing the moving a cauldron to the center of a stove?",
"gt_answer": "B",
"image_urls": [
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},
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the move a wok next to a brush?",
"gt_answer": "B",
"image_urls": [
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},
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"question": "Which object that the robot gripper will hold in hand while executing the move the pot to the edge of the table?",
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},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_40",
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the wiping up a spill?",
"gt_answer": "C",
"image_urls": [
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},
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"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing a banana into a pot?",
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},
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"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing a pear on a plate?",
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},
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the move a cooking pot to the top left corner of a table?",
"gt_answer": "B",
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},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52427",
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the placing a fryer basket on the right burner?",
"gt_answer": "A",
"image_urls": [
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},
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"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_6185",
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"question": "Which object that the robot gripper will hold in hand while executing the moving a bunny behind a cloth?",
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},
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"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the place a toy pie slice on the edge of an orange cloth?",
"gt_answer": "C",
"image_urls": [
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]
},
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"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_5097",
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a shoe rack backwards?",
"gt_answer": "C",
"image_urls": [
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},
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a chopping blade to the top middle side of the sink?",
"gt_answer": "B",
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},
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"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9660",
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the place a fork to the right of a towel?",
"gt_answer": "D",
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},
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"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the stack the yellow rectangle on the blue rectangle?",
"gt_answer": "C",
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},
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"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_2_27_jaco_play#episode_838",
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"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the picking up an apple?",
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},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_54_17_dlr_sara_pour_converted_externally_to_rlds#episode_26",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the pouring contents from a small container into a mug?",
"gt_answer": "A",
"image_urls": [
"rt_frames_success_rtx_frames_success_54_17_dlr_sara_pour_converted_externally_to_rlds#episode_26.png"
],
"bounding_box_A": {
"x1": 0.4047,
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"x1": 0.0,
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"x1": 0.4734,
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"x1": 0.1672,
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_25404",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a strawberry to the left of a cloth?",
"gt_answer": "B",
"image_urls": [
"rt_frames_success_rtx_frames_success_13_49_bridge#episode_25404.png"
],
"bounding_box_A": {
"x1": 0.0484,
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"x2": 0.3078,
"y2": 0.5833
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"bounding_box_B": {
"x1": 0.1891,
"y1": 0.3792,
"x2": 0.275,
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"x1": 0.3031,
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"x2": 0.3531,
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"x1": 0.5344,
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"y2": 0.6
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11832",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the closing a refrigerator door?",
"gt_answer": "B",
"image_urls": [
"rt_frames_success_rtx_frames_success_3_49_bridge#episode_11832.png"
],
"bounding_box_A": {
"x1": 0.3125,
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"x2": 0.3797,
"y2": 0.9583
},
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"x1": 0.2656,
"y1": 0.0938,
"x2": 0.9984,
"y2": 0.9979
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"bounding_box_C": {
"x1": 0.7422,
"y1": 0.1396,
"x2": 0.8547,
"y2": 0.1896
},
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"x1": 0.6203,
"y1": 0.1292,
"x2": 0.7031,
"y2": 0.2271
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_71",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the washing a pan in a sink?",
"gt_answer": "D",
"image_urls": [
"rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_71.png"
],
"bounding_box_A": {
"x1": 0.3,
"y1": 0.6958,
"x2": 0.9234,
"y2": 0.9979
},
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"x1": 0.0,
"y1": 0.2646,
"x2": 0.6062,
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},
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"x1": 0.0,
"y1": 0.4875,
"x2": 0.3156,
"y2": 0.9979
},
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"x1": 0.4734,
"y1": 0.5083,
"x2": 0.6578,
"y2": 0.6729
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36564",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a tablespoon next to a small pot?",
"gt_answer": "C",
"image_urls": [
"rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36564.png"
],
"bounding_box_A": {
"x1": 0.2344,
"y1": 0.1914,
"x2": 0.4453,
"y2": 0.5
},
"bounding_box_B": {
"x1": 0.3398,
"y1": 0.6641,
"x2": 0.5859,
"y2": 1.0
},
"bounding_box_C": {
"x1": 0.6523,
"y1": 0.6992,
"x2": 0.8086,
"y2": 0.957
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"x1": 0.5039,
"y1": 0.2852,
"x2": 0.6953,
"y2": 0.3906
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_17745",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a cleaning brush from the right to the left side of a countertop?",
"gt_answer": "D",
"image_urls": [
"rt_frames_success_rtx_frames_success_7_49_bridge#episode_17745.png"
],
"bounding_box_A": {
"x1": 0.4453,
"y1": 0.5625,
"x2": 0.7688,
"y2": 0.9354
},
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"x1": 0.5359,
"y1": 0.3792,
"x2": 0.7703,
"y2": 0.6208
},
"bounding_box_C": {
"x1": 0.3563,
"y1": 0.2417,
"x2": 0.4313,
"y2": 0.3312
},
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"x1": 0.2953,
"y1": 0.3,
"x2": 0.4766,
"y2": 0.3958
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5305",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the scooping a toy broccoli and dropping it into the pot?",
"gt_answer": "D",
"image_urls": [
"rt_frames_success_rtx_frames_success_15_49_bridge#episode_5305.png"
],
"bounding_box_A": {
"x1": 0.3156,
"y1": 0.4562,
"x2": 0.4203,
"y2": 0.6813
},
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"x1": 0.4531,
"y1": 0.4854,
"x2": 0.8156,
"y2": 0.7667
},
"bounding_box_C": {
"x1": 0.8297,
"y1": 0.3812,
"x2": 0.9984,
"y2": 0.8479
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"x1": 0.6391,
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"x2": 0.7188,
"y2": 0.4417
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19814",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a hotdog bun from the top right to the left edge of a table?",
"gt_answer": "B",
"image_urls": [
"rt_frames_success_rtx_frames_success_9_49_bridge#episode_19814.png"
],
"bounding_box_A": {
"x1": 0.3078,
"y1": 0.8167,
"x2": 0.4984,
"y2": 0.9979
},
"bounding_box_B": {
"x1": 0.6516,
"y1": 0.3708,
"x2": 0.7609,
"y2": 0.5771
},
"bounding_box_C": {
"x1": 0.3016,
"y1": 0.2437,
"x2": 0.3906,
"y2": 0.375
},
"bounding_box_D": {
"x1": 0.3406,
"y1": 0.2875,
"x2": 0.5641,
"y2": 0.5062
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_36_62_robo_set#episode_11027",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing ketchup on a plate?",
"gt_answer": "A",
"image_urls": [
"rt_frames_success_rtx_frames_success_36_62_robo_set#episode_11027.png"
],
"bounding_box_A": {
"x1": 0.4646,
"y1": 0.1083,
"x2": 0.5943,
"y2": 0.4167
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"bounding_box_B": {
"x1": 0.342,
"y1": 0.5667,
"x2": 0.441,
"y2": 0.85
},
"bounding_box_C": {
"x1": 0.467,
"y1": 0.5917,
"x2": 0.559,
"y2": 0.7542
},
"bounding_box_D": {
"x1": 0.5448,
"y1": 0.475,
"x2": 0.6415,
"y2": 0.7542
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_32596",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the picking up a toy figure and placing it into a cup?",
"gt_answer": "B",
"image_urls": [
"rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_32596.png"
],
"bounding_box_A": {
"x1": 0.3984,
"y1": 0.5273,
"x2": 0.4922,
"y2": 0.6758
},
"bounding_box_B": {
"x1": 0.4961,
"y1": 0.5938,
"x2": 0.5703,
"y2": 0.7344
},
"bounding_box_C": {
"x1": 0.3086,
"y1": 0.7383,
"x2": 0.3633,
"y2": 0.8086
},
"bounding_box_D": {
"x1": 0.6602,
"y1": 0.7422,
"x2": 0.9727,
"y2": 0.9961
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1314",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a dishtowel to the middle right of a table?",
"gt_answer": "D",
"image_urls": [
"rt_frames_success_rtx_frames_success_4_49_bridge#episode_1314.png"
],
"bounding_box_A": {
"x1": 0.35,
"y1": 0.2417,
"x2": 0.4453,
"y2": 0.4458
},
"bounding_box_B": {
"x1": 0.4391,
"y1": 0.3167,
"x2": 0.5047,
"y2": 0.4833
},
"bounding_box_C": {
"x1": 0.5828,
"y1": 0.3583,
"x2": 0.8922,
"y2": 0.6917
},
"bounding_box_D": {
"x1": 0.1094,
"y1": 0.3167,
"x2": 0.3766,
"y2": 0.5875
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24408",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing a stuffed toy into a pan?",
"gt_answer": "B",
"image_urls": [
"rt_frames_success_rtx_frames_success_12_49_bridge#episode_24408.png"
],
"bounding_box_A": {
"x1": 0.2359,
"y1": 0.325,
"x2": 0.3797,
"y2": 0.5312
},
"bounding_box_B": {
"x1": 0.3641,
"y1": 0.1375,
"x2": 0.5687,
"y2": 0.3646
},
"bounding_box_C": {
"x1": 0.2156,
"y1": 0.2313,
"x2": 0.9703,
"y2": 0.9146
},
"bounding_box_D": {
"x1": 0.1234,
"y1": 0.4208,
"x2": 0.25,
"y2": 0.5333
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9531",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the pouring almonds into a pot?",
"gt_answer": "C",
"image_urls": [
"rt_frames_success_rtx_frames_success_18_49_bridge#episode_9531.png"
],
"bounding_box_A": {
"x1": 0.6266,
"y1": 0.3208,
"x2": 0.7984,
"y2": 0.4813
},
"bounding_box_B": {
"x1": 0.3922,
"y1": 0.225,
"x2": 0.4984,
"y2": 0.5188
},
"bounding_box_C": {
"x1": 0.4281,
"y1": 0.4167,
"x2": 0.6828,
"y2": 0.6833
},
"bounding_box_D": {
"x1": 0.0828,
"y1": 0.2979,
"x2": 0.2188,
"y2": 0.4562
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_25344",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a saucepot to the top right edge of a surface?",
"gt_answer": "D",
"image_urls": [
"rt_frames_success_rtx_frames_success_13_49_bridge#episode_25344.png"
],
"bounding_box_A": {
"x1": 0.1453,
"y1": 0.4271,
"x2": 0.2703,
"y2": 0.5708
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"bounding_box_B": {
"x1": 0.3125,
"y1": 0.25,
"x2": 0.5656,
"y2": 0.475
},
"bounding_box_C": {
"x1": 0.3672,
"y1": 0.2458,
"x2": 0.5078,
"y2": 0.4667
},
"bounding_box_D": {
"x1": 0.4156,
"y1": 0.4708,
"x2": 0.6531,
"y2": 0.8229
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_9132",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the removing a piece of beef from a bowl?",
"gt_answer": "C",
"image_urls": [
"rt_frames_success_rtx_frames_success_17_49_bridge#episode_9132.png"
],
"bounding_box_A": {
"x1": 0.5625,
"y1": 0.6208,
"x2": 0.6312,
"y2": 0.6854
},
"bounding_box_B": {
"x1": 0.2172,
"y1": 0.4188,
"x2": 0.4719,
"y2": 0.7125
},
"bounding_box_C": {
"x1": 0.4594,
"y1": 0.4833,
"x2": 0.7672,
"y2": 0.8354
},
"bounding_box_D": {
"x1": 0.5719,
"y1": 0.3292,
"x2": 0.7984,
"y2": 0.4958
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14371",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a green towel to the front right corner of a shelf?",
"gt_answer": "D",
"image_urls": [
"rt_frames_success_rtx_frames_success_5_49_bridge#episode_14371.png"
],
"bounding_box_A": {
"x1": 0.4578,
"y1": 0.2437,
"x2": 0.5125,
"y2": 0.3187
},
"bounding_box_B": {
"x1": 0.6344,
"y1": 0.3708,
"x2": 0.7766,
"y2": 0.4854
},
"bounding_box_C": {
"x1": 0.5938,
"y1": 0.3271,
"x2": 0.8391,
"y2": 0.5396
},
"bounding_box_D": {
"x1": 0.1594,
"y1": 0.3646,
"x2": 0.4406,
"y2": 0.6354
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14478",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing a capsicum on a cloth?",
"gt_answer": "D",
"image_urls": [
"rt_frames_success_rtx_frames_success_5_49_bridge#episode_14478.png"
],
"bounding_box_A": {
"x1": 0.3672,
"y1": 0.325,
"x2": 0.4234,
"y2": 0.4333
},
"bounding_box_B": {
"x1": 0.1656,
"y1": 0.2146,
"x2": 0.3438,
"y2": 0.3979
},
"bounding_box_C": {
"x1": 0.2031,
"y1": 0.25,
"x2": 0.3187,
"y2": 0.3354
},
"bounding_box_D": {
"x1": 0.4172,
"y1": 0.4646,
"x2": 0.7203,
"y2": 0.7875
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_chips_to_box_episode_9",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a bag of chips into a box.?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_pick_chips_to_box_episode_9.png"
],
"bounding_box_A": {
"x1": 0.8219,
"y1": 0.4667,
"x2": 0.9172,
"y2": 0.6167
},
"bounding_box_B": {
"x1": 0.0,
"y1": 0.5125,
"x2": 0.2969,
"y2": 0.7917
},
"bounding_box_C": {
"x1": 0.575,
"y1": 0.5292,
"x2": 0.9594,
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},
"bounding_box_D": {
"x1": 0.3031,
"y1": 0.5625,
"x2": 0.6141,
"y2": 0.7375
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_19",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Pouring juice into a glass.?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_cocktail_sunset_orange_episode_19.png"
],
"bounding_box_A": {
"x1": 0.2125,
"y1": 0.1271,
"x2": 0.4,
"y2": 0.8042
},
"bounding_box_B": {
"x1": 0.0594,
"y1": 0.4771,
"x2": 0.1766,
"y2": 0.6708
},
"bounding_box_C": {
"x1": 0.7359,
"y1": 0.5271,
"x2": 0.8438,
"y2": 0.6604
},
"bounding_box_D": {
"x1": 0.5047,
"y1": 0.525,
"x2": 0.5969,
"y2": 0.65
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_collect_earphone_episode_2",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Storing earphones in a drawer.?",
"gt_answer": "C",
"image_urls": [
"RDT-FT_imgs_1_collect_earphone_episode_2.png"
],
"bounding_box_A": {
"x1": 0.4406,
"y1": 0.5875,
"x2": 0.6266,
"y2": 0.6625
},
"bounding_box_B": {
"x1": 0.8609,
"y1": 0.6479,
"x2": 0.9797,
"y2": 0.725
},
"bounding_box_C": {
"x1": 0.4125,
"y1": 0.475,
"x2": 0.6562,
"y2": 0.5896
},
"bounding_box_D": {
"x1": 0.4391,
"y1": 0.3604,
"x2": 0.6281,
"y2": 0.4792
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_place_cube_in_the_center_2_episode_13",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a cube on a mouse pad.?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_place_cube_in_the_center_2_episode_13.png"
],
"bounding_box_A": {
"x1": 0.7203,
"y1": 0.55,
"x2": 0.8281,
"y2": 0.675
},
"bounding_box_B": {
"x1": 0.0328,
"y1": 0.6312,
"x2": 0.8828,
"y2": 0.8125
},
"bounding_box_C": {
"x1": 0.0047,
"y1": 0.4833,
"x2": 0.0938,
"y2": 0.5979
},
"bounding_box_D": {
"x1": 0.0766,
"y1": 0.5375,
"x2": 0.325,
"y2": 0.6062
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_close_laptop_2_episode_4",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Closing a laptop lid.?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_close_laptop_2_episode_4.png"
],
"bounding_box_A": {
"x1": 0.8031,
"y1": 0.2833,
"x2": 1.0,
"y2": 0.625
},
"bounding_box_B": {
"x1": 0.0,
"y1": 0.0979,
"x2": 0.275,
"y2": 0.6458
},
"bounding_box_C": {
"x1": 0.1797,
"y1": 0.6771,
"x2": 0.8359,
"y2": 0.7625
},
"bounding_box_D": {
"x1": 0.1516,
"y1": 0.2062,
"x2": 0.8594,
"y2": 0.5875
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_insert_cable_charger_episode_43",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Picking up a charging base.?",
"gt_answer": "C",
"image_urls": [
"RDT-FT_imgs_1_insert_cable_charger_episode_43.png"
],
"bounding_box_A": {
"x1": 0.3547,
"y1": 0.5229,
"x2": 0.4437,
"y2": 0.6479
},
"bounding_box_B": {
"x1": 0.4719,
"y1": 0.5563,
"x2": 0.5719,
"y2": 0.6813
},
"bounding_box_C": {
"x1": 0.4391,
"y1": 0.6833,
"x2": 0.5625,
"y2": 0.8562
},
"bounding_box_D": {
"x1": 0.0344,
"y1": 0.5437,
"x2": 0.2047,
"y2": 0.7521
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_orange_into_bag_episode_16",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a persimmon into a paper bag.?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_pick_orange_into_bag_episode_16.png"
],
"bounding_box_A": {
"x1": 0.4688,
"y1": 0.1208,
"x2": 0.7156,
"y2": 0.6854
},
"bounding_box_B": {
"x1": 0.7906,
"y1": 0.55,
"x2": 0.9625,
"y2": 0.7583
},
"bounding_box_C": {
"x1": 0.0672,
"y1": 0.3063,
"x2": 0.1906,
"y2": 0.5813
},
"bounding_box_D": {
"x1": 0.3422,
"y1": 0.5542,
"x2": 0.4891,
"y2": 0.7521
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_open_laptop_episode_5",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Opening a laptop.?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_open_laptop_episode_5.png"
],
"bounding_box_A": {
"x1": 0.0,
"y1": 0.4646,
"x2": 0.9328,
"y2": 0.6542
},
"bounding_box_B": {
"x1": 0.1406,
"y1": 0.0,
"x2": 0.8594,
"y2": 0.4688
},
"bounding_box_C": {
"x1": 0.1797,
"y1": 0.4646,
"x2": 0.7391,
"y2": 0.5229
},
"bounding_box_D": {
"x1": 0.8906,
"y1": 0.4958,
"x2": 0.9984,
"y2": 0.6042
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_orange_into_bag_episode_8",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a tomato into a paper bag.?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_pick_orange_into_bag_episode_8.png"
],
"bounding_box_A": {
"x1": 0.4344,
"y1": 0.1542,
"x2": 0.6578,
"y2": 0.6625
},
"bounding_box_B": {
"x1": 0.6984,
"y1": 0.5542,
"x2": 0.8609,
"y2": 0.7542
},
"bounding_box_C": {
"x1": 0.2984,
"y1": 0.5417,
"x2": 0.4437,
"y2": 0.7312
},
"bounding_box_D": {
"x1": 0.8266,
"y1": 0.5021,
"x2": 0.9984,
"y2": 0.6917
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_up_the_pen_episode_17",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a pen into a pen container.?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_pick_up_the_pen_episode_17.png"
],
"bounding_box_A": {
"x1": 0.6172,
"y1": 0.475,
"x2": 0.7609,
"y2": 0.5979
},
"bounding_box_B": {
"x1": 0.4703,
"y1": 0.5,
"x2": 0.5813,
"y2": 0.6271
},
"bounding_box_C": {
"x1": 0.2375,
"y1": 0.5062,
"x2": 0.375,
"y2": 0.7229
},
"bounding_box_D": {
"x1": 0.8313,
"y1": 0.4708,
"x2": 0.9984,
"y2": 0.7208
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_12",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Placing a backpack on a desk.?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_12.png"
],
"bounding_box_A": {
"x1": 0.0953,
"y1": 0.4667,
"x2": 0.2062,
"y2": 0.5646
},
"bounding_box_B": {
"x1": 0.1047,
"y1": 0.825,
"x2": 0.3688,
"y2": 0.9979
},
"bounding_box_C": {
"x1": 0.0,
"y1": 0.55,
"x2": 0.1313,
"y2": 0.6813
},
"bounding_box_D": {
"x1": 0.3312,
"y1": 0.4375,
"x2": 0.8781,
"y2": 0.9979
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_cocktail_sunset_coconut_episode_23",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Pouring liquid from a measuring cup into a glass.?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_cocktail_sunset_coconut_episode_23.png"
],
"bounding_box_A": {
"x1": 0.0,
"y1": 0.4813,
"x2": 0.0781,
"y2": 0.6438
},
"bounding_box_B": {
"x1": 0.3922,
"y1": 0.5292,
"x2": 0.4844,
"y2": 0.6479
},
"bounding_box_C": {
"x1": 0.7703,
"y1": 0.5417,
"x2": 0.9984,
"y2": 0.6979
},
"bounding_box_D": {
"x1": 0.0,
"y1": 0.2208,
"x2": 0.1562,
"y2": 0.725
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_clean_pour_water_episode_12",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Pouring water into a mug.?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_clean_pour_water_episode_12.png"
],
"bounding_box_A": {
"x1": 0.0453,
"y1": 0.4979,
"x2": 0.1203,
"y2": 0.5437
},
"bounding_box_B": {
"x1": 0.3922,
"y1": 0.4729,
"x2": 0.5375,
"y2": 0.7021
},
"bounding_box_C": {
"x1": 0.125,
"y1": 0.2313,
"x2": 0.9984,
"y2": 0.5667
},
"bounding_box_D": {
"x1": 0.5969,
"y1": 0.2188,
"x2": 0.6984,
"y2": 0.6875
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_place_octopus_upright_episode_14",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Righting an octopus plush toy.?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_place_octopus_upright_episode_14.png"
],
"bounding_box_A": {
"x1": 0.5359,
"y1": 0.5646,
"x2": 0.7453,
"y2": 0.8604
},
"bounding_box_B": {
"x1": 0.8313,
"y1": 0.6104,
"x2": 0.9984,
"y2": 0.7792
},
"bounding_box_C": {
"x1": 0.6453,
"y1": 0.4813,
"x2": 0.9031,
"y2": 0.6708
},
"bounding_box_D": {
"x1": 0.2781,
"y1": 0.5479,
"x2": 0.4562,
"y2": 0.8146
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_23823",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the unwrapping a stethoscope from plastic packaging?",
"gt_answer": "C",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_23823.png"
],
"bounding_box_A": {
"x1": 0.1938,
"y1": 0.6389,
"x2": 0.2406,
"y2": 0.7056
},
"bounding_box_B": {
"x1": 0.3781,
"y1": 0.4278,
"x2": 0.4781,
"y2": 0.5167
},
"bounding_box_C": {
"x1": 0.4719,
"y1": 0.3889,
"x2": 0.6,
"y2": 0.55
},
"bounding_box_D": {
"x1": 0.8031,
"y1": 0.5556,
"x2": 0.8906,
"y2": 0.6444
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_57084",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the stirring the contents of a pot?",
"gt_answer": "A",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_57084.png"
],
"bounding_box_A": {
"x1": 0.425,
"y1": 0.55,
"x2": 0.4813,
"y2": 0.6389
},
"bounding_box_B": {
"x1": 0.8406,
"y1": 0.6556,
"x2": 0.9719,
"y2": 0.7389
},
"bounding_box_C": {
"x1": 0.6656,
"y1": 0.5389,
"x2": 0.7125,
"y2": 0.6611
},
"bounding_box_D": {
"x1": 0.6656,
"y1": 0.6889,
"x2": 0.75,
"y2": 0.7611
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_83861",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the slide a towel to the left on a table?",
"gt_answer": "B",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_83861.png"
],
"bounding_box_A": {
"x1": 0.3594,
"y1": 0.1833,
"x2": 0.4406,
"y2": 0.2833
},
"bounding_box_B": {
"x1": 0.5875,
"y1": 0.4222,
"x2": 0.775,
"y2": 0.6556
},
"bounding_box_C": {
"x1": 0.3625,
"y1": 0.2722,
"x2": 0.4437,
"y2": 0.3556
},
"bounding_box_D": {
"x1": 0.5938,
"y1": 0.1667,
"x2": 0.6813,
"y2": 0.3833
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_68757",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the placing trousers on a drying rack?",
"gt_answer": "A",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_68757.png"
],
"bounding_box_A": {
"x1": 0.1938,
"y1": 0.3278,
"x2": 0.6438,
"y2": 0.9944
},
"bounding_box_B": {
"x1": 0.2594,
"y1": 0.8444,
"x2": 0.3438,
"y2": 0.9944
},
"bounding_box_C": {
"x1": 0.1562,
"y1": 0.7611,
"x2": 0.2469,
"y2": 0.8889
},
"bounding_box_D": {
"x1": 0.425,
"y1": 0.6111,
"x2": 0.5781,
"y2": 0.9167
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_62778",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the stacking the right waste bin to the left waste bin?",
"gt_answer": "D",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_62778.png"
],
"bounding_box_A": {
"x1": 0.525,
"y1": 0.6389,
"x2": 0.6656,
"y2": 0.85
},
"bounding_box_B": {
"x1": 0.5281,
"y1": 0.4,
"x2": 0.65,
"y2": 0.5722
},
"bounding_box_C": {
"x1": 0.5375,
"y1": 0.3056,
"x2": 0.6219,
"y2": 0.45
},
"bounding_box_D": {
"x1": 0.6562,
"y1": 0.3389,
"x2": 0.7656,
"y2": 0.5222
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_77308",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the retrieving a wipe and placing it on the table?",
"gt_answer": "D",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_77308.png"
],
"bounding_box_A": {
"x1": 0.2469,
"y1": 0.6444,
"x2": 0.3281,
"y2": 0.8222
},
"bounding_box_B": {
"x1": 0.4344,
"y1": 0.4944,
"x2": 0.575,
"y2": 0.7722
},
"bounding_box_C": {
"x1": 0.6906,
"y1": 0.6278,
"x2": 0.7937,
"y2": 0.9111
},
"bounding_box_D": {
"x1": 0.475,
"y1": 0.6667,
"x2": 0.6094,
"y2": 0.9389
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_65711",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the pulling out a storage bucket?",
"gt_answer": "C",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_65711.png"
],
"bounding_box_A": {
"x1": 0.725,
"y1": 0.7,
"x2": 0.8031,
"y2": 0.9111
},
"bounding_box_B": {
"x1": 0.625,
"y1": 0.6944,
"x2": 0.7094,
"y2": 0.9944
},
"bounding_box_C": {
"x1": 0.375,
"y1": 0.5444,
"x2": 0.5219,
"y2": 0.9556
},
"bounding_box_D": {
"x1": 0.4781,
"y1": 0.7944,
"x2": 0.6281,
"y2": 0.9944
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_13272",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the unfolding a dish cloth on a table?",
"gt_answer": "D",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_13272.png"
],
"bounding_box_A": {
"x1": 0.6594,
"y1": 0.6556,
"x2": 0.7469,
"y2": 0.7444
},
"bounding_box_B": {
"x1": 0.7219,
"y1": 0.6889,
"x2": 0.7844,
"y2": 0.8167
},
"bounding_box_C": {
"x1": 0.6094,
"y1": 0.6056,
"x2": 0.625,
"y2": 0.6611
},
"bounding_box_D": {
"x1": 0.4375,
"y1": 0.65,
"x2": 0.5437,
"y2": 0.7667
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_68288",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the moving a baking pan backwards on a stove?",
"gt_answer": "B",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_68288.png"
],
"bounding_box_A": {
"x1": 0.6438,
"y1": 0.5333,
"x2": 0.7188,
"y2": 0.6333
},
"bounding_box_B": {
"x1": 0.6125,
"y1": 0.65,
"x2": 0.85,
"y2": 0.8778
},
"bounding_box_C": {
"x1": 0.1688,
"y1": 0.8333,
"x2": 0.3781,
"y2": 0.9944
},
"bounding_box_D": {
"x1": 0.3063,
"y1": 0.7,
"x2": 0.4719,
"y2": 0.8944
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/rtx_frames__new_85_85_droid#episode_27325",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the moving pillow cases to the right side of a couch?",
"gt_answer": "D",
"image_urls": [
"rtx_frames__new_85_85_droid#episode_27325.png"
],
"bounding_box_A": {
"x1": 0.0531,
"y1": 0.6556,
"x2": 0.125,
"y2": 0.7389
},
"bounding_box_B": {
"x1": 0.7031,
"y1": 0.6222,
"x2": 0.7625,
"y2": 0.7611
},
"bounding_box_C": {
"x1": 0.7906,
"y1": 0.5444,
"x2": 0.875,
"y2": 0.6833
},
"bounding_box_D": {
"x1": 0.2781,
"y1": 0.1444,
"x2": 0.9938,
"y2": 0.9944
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_bottle_get_water_episode_14",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Filling a water bottle from a water dispenser?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_pick_bottle_get_water_episode_14.png"
],
"bounding_box_A": {
"x1": 0.3406,
"y1": 0.0271,
"x2": 0.6531,
"y2": 0.6646
},
"bounding_box_B": {
"x1": 0.8109,
"y1": 0.4833,
"x2": 0.9469,
"y2": 0.5813
},
"bounding_box_C": {
"x1": 0.65,
"y1": 0.5521,
"x2": 0.6969,
"y2": 0.6646
},
"bounding_box_D": {
"x1": 0.2891,
"y1": 0.4479,
"x2": 0.4094,
"y2": 0.7708
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_coffee_cup_right_to_right_episode_19",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Moving the smallest coffee cup?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_coffee_cup_right_to_right_episode_19.png"
],
"bounding_box_A": {
"x1": 0.325,
"y1": 0.4062,
"x2": 0.4266,
"y2": 0.6042
},
"bounding_box_B": {
"x1": 0.5531,
"y1": 0.4604,
"x2": 0.6578,
"y2": 0.6167
},
"bounding_box_C": {
"x1": 0.0656,
"y1": 0.4396,
"x2": 0.1812,
"y2": 0.6188
},
"bounding_box_D": {
"x1": 0.8156,
"y1": 0.6208,
"x2": 0.9984,
"y2": 0.7188
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_10",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Pouring water from a thermos into a cup?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_pour_water_bottle2cup_mess_episode_10.png"
],
"bounding_box_A": {
"x1": 0.1719,
"y1": 0.1521,
"x2": 0.4141,
"y2": 0.7667
},
"bounding_box_B": {
"x1": 0.6969,
"y1": 0.4917,
"x2": 0.8562,
"y2": 0.7729
},
"bounding_box_C": {
"x1": 0.6937,
"y1": 0.2896,
"x2": 0.9984,
"y2": 0.6708
},
"bounding_box_D": {
"x1": 0.4016,
"y1": 0.2646,
"x2": 0.7078,
"y2": 0.5583
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_cocktail_sunset_orange_episode_12",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Pouring juice into a glass?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_cocktail_sunset_orange_episode_12.png"
],
"bounding_box_A": {
"x1": 0.8156,
"y1": 0.5229,
"x2": 0.9141,
"y2": 0.6438
},
"bounding_box_B": {
"x1": 0.0266,
"y1": 0.4792,
"x2": 0.1109,
"y2": 0.6583
},
"bounding_box_C": {
"x1": 0.0187,
"y1": 0.1812,
"x2": 0.2016,
"y2": 0.7521
},
"bounding_box_D": {
"x1": 0.4797,
"y1": 0.5271,
"x2": 0.5781,
"y2": 0.6479
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_cocktail_sunset_ice_episode_26",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Adding ice to a goblet?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_cocktail_sunset_ice_episode_26.png"
],
"bounding_box_A": {
"x1": 0.7609,
"y1": 0.5292,
"x2": 0.8594,
"y2": 0.65
},
"bounding_box_B": {
"x1": 0.0875,
"y1": 0.2479,
"x2": 0.2266,
"y2": 0.6958
},
"bounding_box_C": {
"x1": 0.4594,
"y1": 0.5312,
"x2": 0.5547,
"y2": 0.6479
},
"bounding_box_D": {
"x1": 0.3375,
"y1": 0.5312,
"x2": 0.4281,
"y2": 0.6479
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_magiccube_into_bag_episode_16",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Placing a Rubik's Cube into a paper bag?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_pick_magiccube_into_bag_episode_16.png"
],
"bounding_box_A": {
"x1": 0.2203,
"y1": 0.5125,
"x2": 0.2687,
"y2": 0.5521
},
"bounding_box_B": {
"x1": 0.2375,
"y1": 0.5521,
"x2": 0.3453,
"y2": 0.6729
},
"bounding_box_C": {
"x1": 0.8984,
"y1": 0.4708,
"x2": 0.9984,
"y2": 0.575
},
"bounding_box_D": {
"x1": 0.3797,
"y1": 0.4938,
"x2": 0.4656,
"y2": 0.6312
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_same_color_clip_episode_12",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing binder clips of a specific color into a clear plastic jar?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_pick_same_color_clip_episode_12.png"
],
"bounding_box_A": {
"x1": 0.1187,
"y1": 0.5646,
"x2": 0.3,
"y2": 0.6292
},
"bounding_box_B": {
"x1": 0.3953,
"y1": 0.4458,
"x2": 0.5578,
"y2": 0.6062
},
"bounding_box_C": {
"x1": 0.2891,
"y1": 0.4917,
"x2": 0.85,
"y2": 0.5687
},
"bounding_box_D": {
"x1": 0.0016,
"y1": 0.4646,
"x2": 0.2656,
"y2": 0.5771
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_apple_into_bag_episode_19",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing an apple into a paper bag?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_pick_apple_into_bag_episode_19.png"
],
"bounding_box_A": {
"x1": 0.2797,
"y1": 0.0187,
"x2": 0.5719,
"y2": 0.7521
},
"bounding_box_B": {
"x1": 0.7422,
"y1": 0.5542,
"x2": 0.925,
"y2": 0.7812
},
"bounding_box_C": {
"x1": 0.0641,
"y1": 0.3042,
"x2": 0.1891,
"y2": 0.5833
},
"bounding_box_D": {
"x1": 0.1234,
"y1": 0.6021,
"x2": 0.2031,
"y2": 0.65
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_place_water_bottle_episode_4",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a water bottle on a laptop?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_pick_place_water_bottle_episode_4.png"
],
"bounding_box_A": {
"x1": 0.9016,
"y1": 0.3021,
"x2": 0.9891,
"y2": 0.6396
},
"bounding_box_B": {
"x1": 0.6453,
"y1": 0.2604,
"x2": 0.7188,
"y2": 0.5542
},
"bounding_box_C": {
"x1": 0.5609,
"y1": 0.4896,
"x2": 0.6484,
"y2": 0.5333
},
"bounding_box_D": {
"x1": 0.0,
"y1": 0.5,
"x2": 0.4766,
"y2": 0.6104
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_coffee_cup_on_PC_episode_15",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a cup on a laptop?",
"gt_answer": "C",
"image_urls": [
"RDT-FT_imgs_1_coffee_cup_on_PC_episode_15.png"
],
"bounding_box_A": {
"x1": 0.2313,
"y1": 0.4333,
"x2": 0.3656,
"y2": 0.6271
},
"bounding_box_B": {
"x1": 0.6594,
"y1": 0.3979,
"x2": 0.8125,
"y2": 0.6
},
"bounding_box_C": {
"x1": 0.0,
"y1": 0.6354,
"x2": 0.6641,
"y2": 0.8583
},
"bounding_box_D": {
"x1": 0.0016,
"y1": 0.2104,
"x2": 0.9344,
"y2": 0.5792
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_tomato_to_desk_episode_14",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Placing a can on a table?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_pick_tomato_to_desk_episode_14.png"
],
"bounding_box_A": {
"x1": 0.2234,
"y1": 0.5333,
"x2": 0.3344,
"y2": 0.6625
},
"bounding_box_B": {
"x1": 0.4562,
"y1": 0.3125,
"x2": 0.5375,
"y2": 0.4021
},
"bounding_box_C": {
"x1": 0.4625,
"y1": 0.6104,
"x2": 0.5406,
"y2": 0.6917
},
"bounding_box_D": {
"x1": 0.0,
"y1": 0.4958,
"x2": 0.1625,
"y2": 0.6438
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pick_place_ver_water_bottle_episode_3",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Repositioning a water bottle next to a thermos?",
"gt_answer": "C",
"image_urls": [
"RDT-FT_imgs_1_pick_place_ver_water_bottle_episode_3.png"
],
"bounding_box_A": {
"x1": 0.5656,
"y1": 0.6,
"x2": 0.6188,
"y2": 0.6333
},
"bounding_box_B": {
"x1": 0.3734,
"y1": 0.2625,
"x2": 0.4656,
"y2": 0.6833
},
"bounding_box_C": {
"x1": 0.8422,
"y1": 0.4188,
"x2": 0.9984,
"y2": 0.5146
},
"bounding_box_D": {
"x1": 0.2344,
"y1": 0.525,
"x2": 0.7109,
"y2": 0.625
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_coffee_cup_on_PC_episode_18",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a cup on a laptop?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_coffee_cup_on_PC_episode_18.png"
],
"bounding_box_A": {
"x1": 0.0,
"y1": 0.6375,
"x2": 0.6594,
"y2": 0.8604
},
"bounding_box_B": {
"x1": 0.9344,
"y1": 0.6521,
"x2": 0.9984,
"y2": 0.7521
},
"bounding_box_C": {
"x1": 0.3078,
"y1": 0.4313,
"x2": 0.4375,
"y2": 0.6229
},
"bounding_box_D": {
"x1": 0.6547,
"y1": 0.3979,
"x2": 0.8094,
"y2": 0.5958
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_redirect_magiccube_episode_2",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Rotating a Rubik's cube?",
"gt_answer": "C",
"image_urls": [
"RDT-FT_imgs_1_redirect_magiccube_episode_2.png"
],
"bounding_box_A": {
"x1": 0.1156,
"y1": 0.5625,
"x2": 0.6719,
"y2": 0.7771
},
"bounding_box_B": {
"x1": 0.3234,
"y1": 0.2771,
"x2": 0.4219,
"y2": 0.5521
},
"bounding_box_C": {
"x1": 0.7859,
"y1": 0.55,
"x2": 0.9062,
"y2": 0.675
},
"bounding_box_D": {
"x1": 0.0484,
"y1": 0.6375,
"x2": 0.0594,
"y2": 0.6583
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"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_ice_scoop_in_box_tidy_table_episode_1",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a scoop into a container?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_put_ice_scoop_in_box_tidy_table_episode_1.png"
],
"bounding_box_A": {
"x1": 0.2141,
"y1": 0.4688,
"x2": 0.6859,
"y2": 0.7438
},
"bounding_box_B": {
"x1": 0.0,
"y1": 0.5458,
"x2": 0.0703,
"y2": 0.6646
},
"bounding_box_C": {
"x1": 0.0,
"y1": 0.3875,
"x2": 0.1781,
"y2": 0.5
},
"bounding_box_D": {
"x1": 0.3063,
"y1": 0.4021,
"x2": 0.3984,
"y2": 0.475
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_cup_behind_laptop_episode_13",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Moving a cup beside a laptop?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_put_cup_behind_laptop_episode_13.png"
],
"bounding_box_A": {
"x1": 0.2984,
"y1": 0.1729,
"x2": 0.3375,
"y2": 0.25
},
"bounding_box_B": {
"x1": 0.3703,
"y1": 0.4208,
"x2": 0.5703,
"y2": 0.7
},
"bounding_box_C": {
"x1": 0.2266,
"y1": 0.6208,
"x2": 0.9688,
"y2": 0.7854
},
"bounding_box_D": {
"x1": 0.0813,
"y1": 0.2354,
"x2": 0.9656,
"y2": 0.5771
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_glue_into_box_yellow_light_episode_17",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a glue stick into a translucent box?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_put_glue_into_box_yellow_light_episode_17.png"
],
"bounding_box_A": {
"x1": 0.8422,
"y1": 0.4875,
"x2": 0.9016,
"y2": 0.5521
},
"bounding_box_B": {
"x1": 0.2328,
"y1": 0.4729,
"x2": 0.5734,
"y2": 0.6708
},
"bounding_box_C": {
"x1": 0.8453,
"y1": 0.55,
"x2": 0.9641,
"y2": 0.6042
},
"bounding_box_D": {
"x1": 0.1688,
"y1": 0.5833,
"x2": 0.2391,
"y2": 0.6167
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_kiwi_on_doll_episode_2",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a kiwi on a doll?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_put_kiwi_on_doll_episode_2.png"
],
"bounding_box_A": {
"x1": 0.6703,
"y1": 0.6083,
"x2": 0.8125,
"y2": 0.7521
},
"bounding_box_B": {
"x1": 0.0266,
"y1": 0.3896,
"x2": 0.2,
"y2": 0.5729
},
"bounding_box_C": {
"x1": 0.8266,
"y1": 0.5854,
"x2": 0.9984,
"y2": 0.6958
},
"bounding_box_D": {
"x1": 0.5156,
"y1": 0.5833,
"x2": 0.5719,
"y2": 0.6062
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_unplug_data_cable_episode_13",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Unplugging a data cable from a hard drive?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_unplug_data_cable_episode_13.png"
],
"bounding_box_A": {
"x1": 0.525,
"y1": 0.0646,
"x2": 0.9828,
"y2": 0.5083
},
"bounding_box_B": {
"x1": 0.0312,
"y1": 0.5771,
"x2": 0.2188,
"y2": 0.6542
},
"bounding_box_C": {
"x1": 0.3063,
"y1": 0.4833,
"x2": 0.3719,
"y2": 0.5354
},
"bounding_box_D": {
"x1": 0.5062,
"y1": 0.5312,
"x2": 0.625,
"y2": 0.5771
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_robot_dog_forward_episode_11",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Operating a joystick to control a robot dog?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_robot_dog_forward_episode_11.png"
],
"bounding_box_A": {
"x1": 0.5641,
"y1": 0.625,
"x2": 0.6844,
"y2": 0.6875
},
"bounding_box_B": {
"x1": 0.3781,
"y1": 0.6583,
"x2": 0.7063,
"y2": 0.8167
},
"bounding_box_C": {
"x1": 0.6672,
"y1": 0.0917,
"x2": 0.7172,
"y2": 0.6479
},
"bounding_box_D": {
"x1": 0.2984,
"y1": 0.0938,
"x2": 0.3859,
"y2": 0.6813
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_2",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Unpacking gray clothes from a backpack?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_take_clothes_into_backpack_episode_2.png"
],
"bounding_box_A": {
"x1": 0.2094,
"y1": 0.1938,
"x2": 0.8531,
"y2": 0.9875
},
"bounding_box_B": {
"x1": 0.0,
"y1": 0.9375,
"x2": 0.1922,
"y2": 0.9979
},
"bounding_box_C": {
"x1": 0.0516,
"y1": 0.6,
"x2": 0.2906,
"y2": 0.6646
},
"bounding_box_D": {
"x1": 0.0,
"y1": 0.2104,
"x2": 0.1781,
"y2": 0.5396
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_zip_the_bag_episode_6",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Closing a zippered bag?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_zip_the_bag_episode_6.png"
],
"bounding_box_A": {
"x1": 0.4813,
"y1": 0.4813,
"x2": 0.8016,
"y2": 0.5292
},
"bounding_box_B": {
"x1": 0.0,
"y1": 0.6333,
"x2": 0.95,
"y2": 0.8417
},
"bounding_box_C": {
"x1": 0.0,
"y1": 0.0458,
"x2": 0.1922,
"y2": 0.3958
},
"bounding_box_D": {
"x1": 0.8078,
"y1": 0.5229,
"x2": 0.9938,
"y2": 0.6542
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_redirect_magiccube_episode_15",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Manipulating a Rubik's cube?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_redirect_magiccube_episode_15.png"
],
"bounding_box_A": {
"x1": 0.2313,
"y1": 0.5229,
"x2": 0.3328,
"y2": 0.6521
},
"bounding_box_B": {
"x1": 0.6594,
"y1": 0.4917,
"x2": 0.9984,
"y2": 0.6729
},
"bounding_box_C": {
"x1": 0.0,
"y1": 0.5813,
"x2": 0.3656,
"y2": 0.8104
},
"bounding_box_D": {
"x1": 0.1062,
"y1": 0.5188,
"x2": 0.5359,
"y2": 0.6042
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_tian_open_laptop_press_keyboard_episode_0",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Entering a password on a laptop keypad?",
"gt_answer": "C",
"image_urls": [
"RDT-FT_imgs_1_tian_open_laptop_press_keyboard_episode_0.png"
],
"bounding_box_A": {
"x1": 0.2859,
"y1": 0.1667,
"x2": 0.3234,
"y2": 0.25
},
"bounding_box_B": {
"x1": 0.1172,
"y1": 0.2437,
"x2": 0.9734,
"y2": 0.5833
},
"bounding_box_C": {
"x1": 0.1812,
"y1": 0.5813,
"x2": 0.8391,
"y2": 0.7229
},
"bounding_box_D": {
"x1": 0.875,
"y1": 0.4292,
"x2": 0.9984,
"y2": 0.6
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_wipe_table_f2b_episode_11",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Wiping a table?",
"gt_answer": "C",
"image_urls": [
"RDT-FT_imgs_1_wipe_table_f2b_episode_11.png"
],
"bounding_box_A": {
"x1": 0.5172,
"y1": 0.5437,
"x2": 0.7312,
"y2": 0.6146
},
"bounding_box_B": {
"x1": 0.7531,
"y1": 0.3583,
"x2": 0.9734,
"y2": 0.4708
},
"bounding_box_C": {
"x1": 0.3125,
"y1": 0.5042,
"x2": 0.5219,
"y2": 0.6188
},
"bounding_box_D": {
"x1": 0.0,
"y1": 0.5271,
"x2": 0.1766,
"y2": 0.6375
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_wipe_desk_episode_12",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Wiping a tabletop?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_wipe_desk_episode_12.png"
],
"bounding_box_A": {
"x1": 0.7031,
"y1": 0.4625,
"x2": 0.9984,
"y2": 0.6438
},
"bounding_box_B": {
"x1": 0.5172,
"y1": 0.4646,
"x2": 0.9234,
"y2": 0.55
},
"bounding_box_C": {
"x1": 0.3844,
"y1": 0.4292,
"x2": 0.4547,
"y2": 0.5479
},
"bounding_box_D": {
"x1": 0.4625,
"y1": 0.4979,
"x2": 0.5594,
"y2": 0.55
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_4",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Unpacking a gray garment from a backpack?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_take_clothes_into_backpack_episode_4.png"
],
"bounding_box_A": {
"x1": 0.2891,
"y1": 0.3229,
"x2": 0.4672,
"y2": 0.6583
},
"bounding_box_B": {
"x1": 0.8734,
"y1": 0.5563,
"x2": 0.9984,
"y2": 0.6042
},
"bounding_box_C": {
"x1": 0.0,
"y1": 0.2104,
"x2": 0.1766,
"y2": 0.5396
},
"bounding_box_D": {
"x1": 0.8203,
"y1": 0.5687,
"x2": 0.9984,
"y2": 0.7312
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_spitballs_in_carton_episode_9",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing paper balls into a box?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_put_spitballs_in_carton_episode_9.png"
],
"bounding_box_A": {
"x1": 0.4641,
"y1": 0.4625,
"x2": 0.7641,
"y2": 0.675
},
"bounding_box_B": {
"x1": 0.6953,
"y1": 0.5896,
"x2": 0.775,
"y2": 0.7125
},
"bounding_box_C": {
"x1": 0.0828,
"y1": 0.2354,
"x2": 0.9688,
"y2": 0.5729
},
"bounding_box_D": {
"x1": 0.3,
"y1": 0.1729,
"x2": 0.3391,
"y2": 0.2479
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_kiwifruit_into_box_yellow_light_episode_0",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing a kiwi in a box?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_put_kiwifruit_into_box_yellow_light_episode_0.png"
],
"bounding_box_A": {
"x1": 0.0,
"y1": 0.4646,
"x2": 0.3703,
"y2": 0.7021
},
"bounding_box_B": {
"x1": 0.0891,
"y1": 0.3083,
"x2": 0.1781,
"y2": 0.4875
},
"bounding_box_C": {
"x1": 0.7125,
"y1": 0.2917,
"x2": 0.9984,
"y2": 0.9979
},
"bounding_box_D": {
"x1": 0.0,
"y1": 0.4271,
"x2": 0.0234,
"y2": 0.4854
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_glue_into_box_yellow_light_episode_1",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Pouring glue into a box?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_put_glue_into_box_yellow_light_episode_1.png"
],
"bounding_box_A": {
"x1": 0.1391,
"y1": 0.5167,
"x2": 0.3391,
"y2": 0.5896
},
"bounding_box_B": {
"x1": 0.5453,
"y1": 0.4313,
"x2": 0.9109,
"y2": 0.6729
},
"bounding_box_C": {
"x1": 0.3328,
"y1": 0.3292,
"x2": 0.4,
"y2": 0.6083
},
"bounding_box_D": {
"x1": 0.8344,
"y1": 0.3,
"x2": 0.8984,
"y2": 0.475
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_up_down_cube_episode_15",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Rotating a Rubik's cube?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_up_down_cube_episode_15.png"
],
"bounding_box_A": {
"x1": 0.2578,
"y1": 0.4979,
"x2": 0.4547,
"y2": 0.6125
},
"bounding_box_B": {
"x1": 0.6469,
"y1": 0.5687,
"x2": 0.7797,
"y2": 0.7208
},
"bounding_box_C": {
"x1": 0.0,
"y1": 0.5188,
"x2": 0.1797,
"y2": 0.6208
},
"bounding_box_D": {
"x1": 0.5859,
"y1": 0.5229,
"x2": 0.6766,
"y2": 0.5917
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_up_down_cube_episode_13",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Rotating a Rubik's Cube?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_up_down_cube_episode_13.png"
],
"bounding_box_A": {
"x1": 0.1406,
"y1": 0.5479,
"x2": 0.2453,
"y2": 0.6125
},
"bounding_box_B": {
"x1": 0.1938,
"y1": 0.3979,
"x2": 0.2812,
"y2": 0.5021
},
"bounding_box_C": {
"x1": 0.5953,
"y1": 0.5229,
"x2": 0.6922,
"y2": 0.5938
},
"bounding_box_D": {
"x1": 0.5281,
"y1": 0.5687,
"x2": 0.6406,
"y2": 0.7146
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_takemahjong_episode_6",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Placing a mahjong tile on the table?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_takemahjong_episode_6.png"
],
"bounding_box_A": {
"x1": 0.0,
"y1": 0.5021,
"x2": 0.0266,
"y2": 0.5563
},
"bounding_box_B": {
"x1": 0.0,
"y1": 0.2479,
"x2": 0.0469,
"y2": 0.4729
},
"bounding_box_C": {
"x1": 0.0437,
"y1": 0.2,
"x2": 0.9984,
"y2": 0.5771
},
"bounding_box_D": {
"x1": 0.1453,
"y1": 0.6396,
"x2": 0.2359,
"y2": 0.6979
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_wipe_table_l2r_avoid_episode_2",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Wiping a table with a sponge?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_wipe_table_l2r_avoid_episode_2.png"
],
"bounding_box_A": {
"x1": 0.1031,
"y1": 0.4688,
"x2": 0.1906,
"y2": 0.5813
},
"bounding_box_B": {
"x1": 0.3219,
"y1": 0.5625,
"x2": 0.5437,
"y2": 0.7562
},
"bounding_box_C": {
"x1": 0.8031,
"y1": 0.2333,
"x2": 0.8984,
"y2": 0.6458
},
"bounding_box_D": {
"x1": 0.025,
"y1": 0.6021,
"x2": 0.2062,
"y2": 0.7042
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_shovel_ice_into_cup_episode_12",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Transferring ice cubes into a glass?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_shovel_ice_into_cup_episode_12.png"
],
"bounding_box_A": {
"x1": 0.3234,
"y1": 0.2021,
"x2": 0.4766,
"y2": 0.7521
},
"bounding_box_B": {
"x1": 0.8172,
"y1": 0.2062,
"x2": 1.0,
"y2": 0.5792
},
"bounding_box_C": {
"x1": 0.7672,
"y1": 0.4188,
"x2": 0.8109,
"y2": 0.4854
},
"bounding_box_D": {
"x1": 0.0,
"y1": 0.2062,
"x2": 0.6641,
"y2": 0.5583
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pour_water_cup_scene2_episode_17",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Pouring water into a mug?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_pour_water_cup_scene2_episode_17.png"
],
"bounding_box_A": {
"x1": 0.425,
"y1": 0.3354,
"x2": 0.5672,
"y2": 0.5375
},
"bounding_box_B": {
"x1": 0.6984,
"y1": 0.1021,
"x2": 0.8,
"y2": 0.5292
},
"bounding_box_C": {
"x1": 0.6641,
"y1": 0.4646,
"x2": 0.6906,
"y2": 0.5042
},
"bounding_box_D": {
"x1": 0.225,
"y1": 0.5042,
"x2": 0.2641,
"y2": 0.525
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_doll_on_coin_episode_8",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Placing a toy on a designated spot?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_put_doll_on_coin_episode_8.png"
],
"bounding_box_A": {
"x1": 0.3125,
"y1": 0.5312,
"x2": 0.3797,
"y2": 0.6667
},
"bounding_box_B": {
"x1": 0.0281,
"y1": 0.5458,
"x2": 0.2297,
"y2": 0.7021
},
"bounding_box_C": {
"x1": 0.375,
"y1": 0.5312,
"x2": 0.8313,
"y2": 0.6354
},
"bounding_box_D": {
"x1": 0.2406,
"y1": 0.4229,
"x2": 0.4031,
"y2": 0.45
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_rag_on_laptop_purple_episode_17",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Covering a laptop with a rag?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_put_rag_on_laptop_purple_episode_17.png"
],
"bounding_box_A": {
"x1": 0.0,
"y1": 0.6188,
"x2": 0.2859,
"y2": 0.8042
},
"bounding_box_B": {
"x1": 0.0625,
"y1": 0.2396,
"x2": 0.9484,
"y2": 0.5792
},
"bounding_box_C": {
"x1": 0.9469,
"y1": 0.5104,
"x2": 0.9984,
"y2": 0.6042
},
"bounding_box_D": {
"x1": 0.2828,
"y1": 0.5729,
"x2": 0.6937,
"y2": 0.6708
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_straw_cafe_cup_s_episode_2",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Inserting a straw into the smallest coffee cup?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_straw_cafe_cup_s_episode_2.png"
],
"bounding_box_A": {
"x1": 0.3047,
"y1": 0.35,
"x2": 0.4828,
"y2": 0.4104
},
"bounding_box_B": {
"x1": 0.0437,
"y1": 0.2396,
"x2": 0.9359,
"y2": 0.5833
},
"bounding_box_C": {
"x1": 0.0391,
"y1": 0.4146,
"x2": 0.2391,
"y2": 0.4708
},
"bounding_box_D": {
"x1": 0.5344,
"y1": 0.4458,
"x2": 0.7172,
"y2": 0.5062
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_zip_the_bag_episode_17",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Closing a zipper on a plastic file bag?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_zip_the_bag_episode_17.png"
],
"bounding_box_A": {
"x1": 0.1469,
"y1": 0.7792,
"x2": 0.3266,
"y2": 0.8938
},
"bounding_box_B": {
"x1": 0.8469,
"y1": 0.4396,
"x2": 0.9797,
"y2": 0.525
},
"bounding_box_C": {
"x1": 0.0875,
"y1": 0.5375,
"x2": 0.2047,
"y2": 0.5979
},
"bounding_box_D": {
"x1": 0.4797,
"y1": 0.4771,
"x2": 0.8,
"y2": 0.5292
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_take_out_spary_lid_episode_18",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Removing a lid from a sprayer and placing it on a table?",
"gt_answer": "C",
"image_urls": [
"RDT-FT_imgs_1_take_out_spary_lid_episode_18.png"
],
"bounding_box_A": {
"x1": 0.8344,
"y1": 0.4979,
"x2": 0.9609,
"y2": 0.6208
},
"bounding_box_B": {
"x1": 0.0,
"y1": 0.5687,
"x2": 0.1969,
"y2": 0.6333
},
"bounding_box_C": {
"x1": 0.5609,
"y1": 0.4396,
"x2": 0.6281,
"y2": 0.6646
},
"bounding_box_D": {
"x1": 0.5281,
"y1": 0.4667,
"x2": 0.8047,
"y2": 0.5188
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_cup_behind_laptop_episode_9",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Moving a cup beside a laptop?",
"gt_answer": "A",
"image_urls": [
"RDT-FT_imgs_1_put_cup_behind_laptop_episode_9.png"
],
"bounding_box_A": {
"x1": 0.1266,
"y1": 0.4813,
"x2": 0.2797,
"y2": 0.7375
},
"bounding_box_B": {
"x1": 0.2984,
"y1": 0.1729,
"x2": 0.3375,
"y2": 0.25
},
"bounding_box_C": {
"x1": 0.2281,
"y1": 0.6208,
"x2": 0.9703,
"y2": 0.7854
},
"bounding_box_D": {
"x1": 0.0813,
"y1": 0.2375,
"x2": 0.9672,
"y2": 0.5833
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_shovel_ice_into_cup_episode_5",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Transferring ice cubes into a glass?",
"gt_answer": "C",
"image_urls": [
"RDT-FT_imgs_1_shovel_ice_into_cup_episode_5.png"
],
"bounding_box_A": {
"x1": 0.0,
"y1": 0.2062,
"x2": 0.6641,
"y2": 0.5854
},
"bounding_box_B": {
"x1": 0.0,
"y1": 0.5667,
"x2": 0.0453,
"y2": 0.6
},
"bounding_box_C": {
"x1": 0.1859,
"y1": 0.2333,
"x2": 0.3312,
"y2": 0.725
},
"bounding_box_D": {
"x1": 0.9234,
"y1": 0.4813,
"x2": 0.9922,
"y2": 0.5854
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_fluffy_octopus_into_bowl_episode_14",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing an octopus toy into a container?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_put_fluffy_octopus_into_bowl_episode_14.png"
],
"bounding_box_A": {
"x1": 0.9172,
"y1": 0.6,
"x2": 0.9984,
"y2": 0.7958
},
"bounding_box_B": {
"x1": 0.6375,
"y1": 0.4708,
"x2": 0.7844,
"y2": 0.625
},
"bounding_box_C": {
"x1": 0.7844,
"y1": 0.5458,
"x2": 0.9344,
"y2": 0.7521
},
"bounding_box_D": {
"x1": 0.2531,
"y1": 0.4667,
"x2": 0.4813,
"y2": 0.6771
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_pour_water_glass_changing_light_episode_17",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Pouring liquid into a glass?",
"gt_answer": "C",
"image_urls": [
"RDT-FT_imgs_1_pour_water_glass_changing_light_episode_17.png"
],
"bounding_box_A": {
"x1": 0.9641,
"y1": 0.475,
"x2": 0.9984,
"y2": 0.5687
},
"bounding_box_B": {
"x1": 0.4234,
"y1": 0.8229,
"x2": 0.5875,
"y2": 0.9979
},
"bounding_box_C": {
"x1": 0.3234,
"y1": 0.2354,
"x2": 0.4328,
"y2": 0.6604
},
"bounding_box_D": {
"x1": 0.2656,
"y1": 0.5,
"x2": 0.3672,
"y2": 0.5792
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_orange_paperbox_episode_34",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will interact via another object without holding it in hand while executing the Placing an orange in a container?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_put_orange_paperbox_episode_34.png"
],
"bounding_box_A": {
"x1": 0.0,
"y1": 0.5604,
"x2": 0.1109,
"y2": 0.5896
},
"bounding_box_B": {
"x1": 0.2172,
"y1": 0.5521,
"x2": 0.4016,
"y2": 0.675
},
"bounding_box_C": {
"x1": 0.5734,
"y1": 0.5375,
"x2": 0.6875,
"y2": 0.6896
},
"bounding_box_D": {
"x1": 0.0047,
"y1": 0.2437,
"x2": 0.8531,
"y2": 0.5563
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_wipe_table_b2f_episode_18",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Wiping a table?",
"gt_answer": "D",
"image_urls": [
"RDT-FT_imgs_1_wipe_table_b2f_episode_18.png"
],
"bounding_box_A": {
"x1": 0.2297,
"y1": 0.0604,
"x2": 0.4297,
"y2": 0.3958
},
"bounding_box_B": {
"x1": 0.7484,
"y1": 0.4625,
"x2": 1.0,
"y2": 0.5208
},
"bounding_box_C": {
"x1": 0.0,
"y1": 0.5271,
"x2": 0.175,
"y2": 0.6229
},
"bounding_box_D": {
"x1": 0.5375,
"y1": 0.5958,
"x2": 0.9359,
"y2": 0.8604
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_10",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the Placing a box inside a microwave and closing the door?",
"gt_answer": "B",
"image_urls": [
"RDT-FT_imgs_1_put_snack_into_microwave_episode_10.png"
],
"bounding_box_A": {
"x1": 0.1375,
"y1": 0.8479,
"x2": 0.6188,
"y2": 0.9979
},
"bounding_box_B": {
"x1": 0.1734,
"y1": 0.0854,
"x2": 0.7109,
"y2": 0.5375
},
"bounding_box_C": {
"x1": 0.8234,
"y1": 0.4458,
"x2": 0.9984,
"y2": 0.525
},
"bounding_box_D": {
"x1": 0.7266,
"y1": 0.3937,
"x2": 0.8375,
"y2": 0.5333
},
"options": [
"A",
"B",
"C",
"D"
]
},
{
"unique_id": "2_perception_reasoning/task_centric/task_instruction_comprehension/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-16_rgbd-cam_high",
"task_type": [
"2_perception_reasoning",
"task_centric",
"task_instruction_comprehension"
],
"input_type": "image",
"question": "Which object that the robot gripper will hold in hand while executing the transferring a usb flash drive between two devices?",
"gt_answer": "B",
"image_urls": [
"ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-16_rgbd-cam_high.png"
],
"bounding_box_A": {
"x1": 0.3,
"y1": 0.4521,
"x2": 0.3672,
"y2": 0.625
},
"bounding_box_B": {
"x1": 0.3594,
"y1": 0.6583,
"x2": 0.4828,
"y2": 0.7271
},
"bounding_box_C": {
"x1": 0.6875,
"y1": 0.55,
"x2": 0.7312,
"y2": 0.6604
},
"bounding_box_D": {
"x1": 0.5859,
"y1": 0.625,
"x2": 0.8109,
"y2": 0.8021
},
"options": [
"A",
"B",
"C",
"D"
]
}
]