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