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+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-2_rgbd-cam_high",
+    "actions_list": [
+      "left:move_to(none, the_right_device), right:move_to(none, the_right_device)",
+      "left:grasp(the_right_device), right:grasp(usb_drive)",
+      "left:press(the_right_device), right:pick_up(usb_drive)",
+      "left:no_ops, right:move_to(usb_drive, the_left_device)",
+      "left:no_ops, right:insert(usb_drive, the_left_device)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_right_device), right:move_to(none, the_right_device)": [
+        "left:grasp(the_right_device), right:grasp(usb_drive)"
+      ],
+      "left:grasp(the_right_device), right:grasp(usb_drive)": [
+        "left:press(the_right_device), right:pick_up(usb_drive)"
+      ],
+      "left:press(the_right_device), right:pick_up(usb_drive)": [
+        "left:no_ops, right:move_to(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:move_to(usb_drive, the_left_device)": [
+        "left:no_ops, right:insert(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:insert(usb_drive, the_left_device)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-2_rgbd-cam_high.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-3_rgbd-cam_high",
+    "actions_list": [
+      "left:move_to(none, the_right_devices), right:move_to(none, the_right_devices)",
+      "left:grasp(the_right_device), right:grasp(usb_drive)",
+      "left:press(the_right_device), right:pick_up(usb_drive)",
+      "left:no_ops, right:move_to(usb_drive, the_left_device)",
+      "left:no_ops, right:insert(usb_drive, the_left_device)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_right_devices), right:move_to(none, the_right_devices)": [
+        "left:grasp(the_right_device), right:grasp(usb_drive)"
+      ],
+      "left:grasp(the_right_device), right:grasp(usb_drive)": [
+        "left:press(the_right_device), right:pick_up(usb_drive)"
+      ],
+      "left:press(the_right_device), right:pick_up(usb_drive)": [
+        "left:no_ops, right:move_to(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:move_to(usb_drive, the_left_device)": [
+        "left:no_ops, right:insert(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:insert(usb_drive, the_left_device)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-3_rgbd-cam_high.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-5_rgbd-cam_high",
+    "actions_list": [
+      "left:move_to(none, the_right_devices), right:move_to(none, the_right_devices)",
+      "left:grasp(the_right_device), right:grasp(usb_drive)",
+      "left:press(the_right_device), right:pick_up(usb_drive)",
+      "left:no_ops, right:move_to(usb_drive, the_left_device)",
+      "left:no_ops, right:insert(usb_drive, the_left_device)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_right_devices), right:move_to(none, the_right_devices)": [
+        "left:grasp(the_right_device), right:grasp(usb_drive)"
+      ],
+      "left:grasp(the_right_device), right:grasp(usb_drive)": [
+        "left:press(the_right_device), right:pick_up(usb_drive)"
+      ],
+      "left:press(the_right_device), right:pick_up(usb_drive)": [
+        "left:no_ops, right:move_to(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:move_to(usb_drive, the_left_device)": [
+        "left:no_ops, right:insert(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:insert(usb_drive, the_left_device)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-5_rgbd-cam_high.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-20_rgbd-cam_high",
+    "actions_list": [
+      "left:move_to(none, the_right_devices), right:move_to(none, the_right_devices)",
+      "left:grasp(the_right_device), right:grasp(usb_drive)",
+      "left:press(the_right_device), right:pick_up(usb_drive)",
+      "left:no_ops, right:move_to(usb_drive, the_left_device)",
+      "left:no_ops, right:insert(usb_drive, the_left_device)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_right_devices), right:move_to(none, the_right_devices)": [
+        "left:grasp(the_right_device), right:grasp(usb_drive)"
+      ],
+      "left:grasp(the_right_device), right:grasp(usb_drive)": [
+        "left:press(the_right_device), right:pick_up(usb_drive)"
+      ],
+      "left:press(the_right_device), right:pick_up(usb_drive)": [
+        "left:no_ops, right:move_to(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:move_to(usb_drive, the_left_device)": [
+        "left:no_ops, right:insert(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:insert(usb_drive, the_left_device)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-20_rgbd-cam_high.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_4",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer_handle), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, earphone_case), right:no_ops",
+      "left:grasp(earphone_case), right:no_ops",
+      "left:pick_up(earphone_case), right:no_ops",
+      "left:place(earphone_case, open_drawer), right:no_ops",
+      "left:grasp(the_second_drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer_handle), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer_handle), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, earphone_case), right:no_ops"
+      ],
+      "left:move_to(none, earphone_case), right:no_ops": [
+        "left:grasp(earphone_case), right:no_ops"
+      ],
+      "left:grasp(earphone_case), right:no_ops": [
+        "left:pick_up(earphone_case), right:no_ops"
+      ],
+      "left:pick_up(earphone_case), right:no_ops": [
+        "left:place(earphone_case, open_drawer), right:no_ops"
+      ],
+      "left:place(earphone_case, open_drawer), right:no_ops": [
+        "left:grasp(the_second_drawer), right:no_ops"
+      ],
+      "left:grasp(the_second_drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_airpods_on_second_layer_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_8",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, earphone_case), right:no_ops",
+      "left:grasp(earphone_case), right:no_ops",
+      "left:pick_up(earphone_case), right:no_ops",
+      "left:place(earphone_case, open_drawer), right:no_ops",
+      "left:push(drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, earphone_case), right:no_ops"
+      ],
+      "left:move_to(none, earphone_case), right:no_ops": [
+        "left:grasp(earphone_case), right:no_ops"
+      ],
+      "left:grasp(earphone_case), right:no_ops": [
+        "left:pick_up(earphone_case), right:no_ops"
+      ],
+      "left:pick_up(earphone_case), right:no_ops": [
+        "left:place(earphone_case, open_drawer), right:no_ops"
+      ],
+      "left:place(earphone_case, open_drawer), right:no_ops": [
+        "left:push(drawer,close), right:no_ops"
+      ],
+      "left:push(drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_airpods_on_second_layer_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_12",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, earphone_case), right:no_ops",
+      "left:grasp(earphone_case), right:no_ops",
+      "left:pick_up(earphone_case), right:no_ops",
+      "left:place(earphone_case, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, earphone_case), right:no_ops"
+      ],
+      "left:move_to(none, earphone_case), right:no_ops": [
+        "left:grasp(earphone_case), right:no_ops"
+      ],
+      "left:grasp(earphone_case), right:no_ops": [
+        "left:pick_up(earphone_case), right:no_ops"
+      ],
+      "left:pick_up(earphone_case), right:no_ops": [
+        "left:place(earphone_case, open_drawer), right:no_ops"
+      ],
+      "left:place(earphone_case, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_airpods_on_second_layer_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_14",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, earphone_case), right:no_ops",
+      "left:grasp(earphone_case), right:no_ops",
+      "left:pick_up(earphone_case), right:no_ops",
+      "left:place(earphone_case, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, earphone_case), right:no_ops"
+      ],
+      "left:move_to(none, earphone_case), right:no_ops": [
+        "left:grasp(earphone_case), right:no_ops"
+      ],
+      "left:grasp(earphone_case), right:no_ops": [
+        "left:pick_up(earphone_case), right:no_ops"
+      ],
+      "left:pick_up(earphone_case), right:no_ops": [
+        "left:place(earphone_case, open_drawer), right:no_ops"
+      ],
+      "left:place(earphone_case, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(drawer,close), right:no_ops"
+      ],
+      "left:push(drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_airpods_on_second_layer_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_15",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, earphone_case), right:no_ops",
+      "left:grasp(earphone_case), right:no_ops",
+      "left:pick_up(earphone_case), right:no_ops",
+      "left:place(earphone_case, open_drawer), right:no_ops",
+      "leftgrasp( drawer), right:no_ops",
+      "left:push(drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, earphone_case), right:no_ops"
+      ],
+      "left:move_to(none, earphone_case), right:no_ops": [
+        "left:grasp(earphone_case), right:no_ops"
+      ],
+      "left:grasp(earphone_case), right:no_ops": [
+        "left:pick_up(earphone_case), right:no_ops"
+      ],
+      "left:pick_up(earphone_case), right:no_ops": [
+        "left:place(earphone_case, open_drawer), right:no_ops"
+      ],
+      "left:place(earphone_case, open_drawer), right:no_ops": [
+        "leftgrasp( drawer), right:no_ops"
+      ],
+      "leftgrasp( drawer), right:no_ops": [
+        "left:push(drawer,close), right:no_ops"
+      ],
+      "left:push(drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_airpods_on_second_layer_episode_15.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_18",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, earphone_case), right:no_ops",
+      "left:grasp(earphone_case), right:no_ops",
+      "left:pick_up(earphone_case), right:no_ops",
+      "left:place(earphone_case, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, earphone_case), right:no_ops"
+      ],
+      "left:move_to(none, earphone_case), right:no_ops": [
+        "left:grasp(earphone_case), right:no_ops"
+      ],
+      "left:grasp(earphone_case), right:no_ops": [
+        "left:pick_up(earphone_case), right:no_ops"
+      ],
+      "left:pick_up(earphone_case), right:no_ops": [
+        "left:place(earphone_case, open_drawer), right:no_ops"
+      ],
+      "left:place(earphone_case, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(drawer,close), right:no_ops"
+      ],
+      "left:push(drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_airpods_on_second_layer_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_22",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, earphone_case), right:no_ops",
+      "left:grasp(earphone_case), right:no_ops",
+      "left:pick_up(earphone_case), right:no_ops",
+      "left:place(earphone_case, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, earphone_case), right:no_ops"
+      ],
+      "left:move_to(none, earphone_case), right:no_ops": [
+        "left:grasp(earphone_case), right:no_ops"
+      ],
+      "left:grasp(earphone_case), right:no_ops": [
+        "left:pick_up(earphone_case), right:no_ops"
+      ],
+      "left:pick_up(earphone_case), right:no_ops": [
+        "left:place(earphone_case, open_drawer), right:no_ops"
+      ],
+      "left:place(earphone_case, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(drawer,close), right:no_ops"
+      ],
+      "left:push(drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_airpods_on_second_layer_episode_22.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_23",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, earphone_case), right:no_ops",
+      "left:grasp(earphone_case), right:no_ops",
+      "left:pick_up(earphone_case), right:no_ops",
+      "left:place(earphone_case, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, earphone_case), right:no_ops"
+      ],
+      "left:move_to(none, earphone_case), right:no_ops": [
+        "left:grasp(earphone_case), right:no_ops"
+      ],
+      "left:grasp(earphone_case), right:no_ops": [
+        "left:pick_up(earphone_case), right:no_ops"
+      ],
+      "left:pick_up(earphone_case), right:no_ops": [
+        "left:place(earphone_case, open_drawer), right:no_ops"
+      ],
+      "left:place(earphone_case, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(drawer,close), right:no_ops"
+      ],
+      "left:push(drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_airpods_on_second_layer_episode_23.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_third_layer_episode_6",
+    "actions_list": [
+      "left:move_to(none, the_bottom_drawer), right:move_to(none, drawer)",
+      "left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, earphone_case), right:no_ops",
+      "left:grasp(earphone_case), right:no_ops",
+      "left:pick_up(earphone_case), right:no_ops",
+      "left:place(earphone_case, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(the_bottom_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_bottom_drawer), right:move_to(none, drawer)": [
+        "left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, earphone_case), right:no_ops"
+      ],
+      "left:move_to(none, earphone_case), right:no_ops": [
+        "left:grasp(earphone_case), right:no_ops"
+      ],
+      "left:grasp(earphone_case), right:no_ops": [
+        "left:pick_up(earphone_case), right:no_ops"
+      ],
+      "left:pick_up(earphone_case), right:no_ops": [
+        "left:place(earphone_case, open_drawer), right:no_ops"
+      ],
+      "left:place(earphone_case, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(the_bottom_drawer,close), right:no_ops"
+      ],
+      "left:push(the_bottom_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_airpods_on_third_layer_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_third_layer_episode_13",
+    "actions_list": [
+      "left:move_to(none, the_bottom_drawer), right:move_to(none, drawer)",
+      "left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, earphone_case), right:no_ops",
+      "left:grasp(earphone_case), right:no_ops",
+      "left:pick_up(earphone_case), right:no_ops",
+      "left:place(earphone_case, drawer), right:no_ops",
+      "left:push(drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_bottom_drawer), right:move_to(none, drawer)": [
+        "left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, earphone_case), right:no_ops"
+      ],
+      "left:move_to(none, earphone_case), right:no_ops": [
+        "left:grasp(earphone_case), right:no_ops"
+      ],
+      "left:grasp(earphone_case), right:no_ops": [
+        "left:pick_up(earphone_case), right:no_ops"
+      ],
+      "left:pick_up(earphone_case), right:no_ops": [
+        "left:place(earphone_case, drawer), right:no_ops"
+      ],
+      "left:place(earphone_case, drawer), right:no_ops": [
+        "left:push(drawer,close), right:no_ops"
+      ],
+      "left:push(drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_airpods_on_third_layer_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_2_episode_1",
+    "actions_list": [
+      "left:move_to(none,left_of_laptop), right:move_to(none,right_of_laptop)",
+      "left:grasp(laptop_lid), right:grasp(laptop_lid)",
+      "left:press(laptop_lid), right:press(laptop_lid)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_of_laptop), right:move_to(none,right_of_laptop)": [
+        "left:grasp(laptop_lid), right:grasp(laptop_lid)"
+      ],
+      "left:grasp(laptop_lid), right:grasp(laptop_lid)": [
+        "left:press(laptop_lid), right:press(laptop_lid)"
+      ],
+      "left:press(laptop_lid), right:press(laptop_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_close_laptop_2_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_2_episode_8",
+    "actions_list": [
+      "left:move_to(none, left_of_laptop), right:move_to(none, right_of_laptop)",
+      "left:grasp(laptop_lid), right:grasp(laptop_lid)",
+      "left:press(laptop_lid), right:press(laptop_lid)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_of_laptop), right:move_to(none, right_of_laptop)": [
+        "left:grasp(laptop_lid), right:grasp(laptop_lid)"
+      ],
+      "left:grasp(laptop_lid), right:grasp(laptop_lid)": [
+        "left:press(laptop_lid), right:press(laptop_lid)"
+      ],
+      "left:press(laptop_lid), right:press(laptop_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_close_laptop_2_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_2_episode_13",
+    "actions_list": [
+      "left:move_to(none, laptop), right:no_ops",
+      "left:grasp(laptop_lid), right:no_ops",
+      "left:press(none, laptop_lid), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, laptop), right:no_ops": [
+        "left:grasp(laptop_lid), right:no_ops"
+      ],
+      "left:grasp(laptop_lid), right:no_ops": [
+        "left:press(none, laptop_lid), right:no_ops"
+      ],
+      "left:press(none, laptop_lid), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_close_laptop_2_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_2_episode_14",
+    "actions_list": [
+      "left:move_to(none, left_of_laptop), right:move_to(none,right_of_laptop)",
+      "left:grasp(laptop_lid), right:grasp(laptop_lid)",
+      "left:press(laptop), right:press(laptop)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_of_laptop), right:move_to(none,right_of_laptop)": [
+        "left:grasp(laptop_lid), right:grasp(laptop_lid)"
+      ],
+      "left:grasp(laptop_lid), right:grasp(laptop_lid)": [
+        "left:press(laptop), right:press(laptop)"
+      ],
+      "left:press(laptop), right:press(laptop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_close_laptop_2_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_episode_8",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, laptop_lid)",
+      "left:no_ops, right:grasp(laptop_lid)",
+      "left:no_ops, right:press(laptop_lid)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, laptop_lid)": [
+        "left:no_ops, right:grasp(laptop_lid)"
+      ],
+      "left:no_ops, right:grasp(laptop_lid)": [
+        "left:no_ops, right:press(laptop_lid)"
+      ],
+      "left:no_ops, right:press(laptop_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_close_laptop_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_episode_17",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, laptop_lid)",
+      "left:no_ops, right:grasp(laptop_lid)",
+      "left:no_ops, right:press(laptop_lid)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, laptop_lid)": [
+        "left:no_ops, right:grasp(laptop_lid)"
+      ],
+      "left:no_ops, right:grasp(laptop_lid)": [
+        "left:no_ops, right:press(laptop_lid)"
+      ],
+      "left:no_ops, right:press(laptop_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_close_laptop_episode_17.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_episode_18",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, laptop_lid)",
+      "left: no_ops,right:grasp(laptop_lid)",
+      "left:no_ops, right:press(laptop_lid)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, laptop_lid)": [
+        "left: no_ops,right:grasp(laptop_lid)"
+      ],
+      "left: no_ops,right:grasp(laptop_lid)": [
+        "left:no_ops, right:press(laptop_lid)"
+      ],
+      "left:no_ops, right:press(laptop_lid)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_close_laptop_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_the_book_episode_16",
+    "actions_list": [
+      "left:move_to(none, left_of_book), right:move_to(none,right_of_book)",
+      "left:grasp(book), right:grasp(obook)",
+      "left:turn(book,up,close), right:press(book)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_of_book), right:move_to(none,right_of_book)": [
+        "left:grasp(book), right:grasp(obook)"
+      ],
+      "left:grasp(book), right:grasp(obook)": [
+        "left:turn(book,up,close), right:press(book)"
+      ],
+      "left:turn(book,up,close), right:press(book)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_close_the_book_episode_16.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_collect_earphone_episode_2",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, earphone_case)",
+      "right:grasp(earphone_case), left:no_ops",
+      "right:pick_up(earphone_case), left:no_ops",
+      "transfer(right, left,earphone_case)",
+      "left:place(earphone_case,drawer),right:no_ops",
+      "left:grasp(the_top_drawer), right:grasp(the_bottom_drawer)",
+      "left:press(drawer), right:push(the_bottom_drawer,close)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, earphone_case)": [
+        "right:grasp(earphone_case), left:no_ops"
+      ],
+      "right:grasp(earphone_case), left:no_ops": [
+        "right:pick_up(earphone_case), left:no_ops"
+      ],
+      "right:pick_up(earphone_case), left:no_ops": [
+        "transfer(right, left,earphone_case)"
+      ],
+      "transfer(right, left,earphone_case)": [
+        "left:place(earphone_case,drawer),right:no_ops"
+      ],
+      "left:place(earphone_case,drawer),right:no_ops": [
+        "left:grasp(the_top_drawer), right:grasp(the_bottom_drawer)"
+      ],
+      "left:grasp(the_top_drawer), right:grasp(the_bottom_drawer)": [
+        "left:press(drawer), right:push(the_bottom_drawer,close)"
+      ],
+      "left:press(drawer), right:push(the_bottom_drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_collect_earphone_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_collect_litter_episode_5",
+    "actions_list": [
+      "left:move_to(none, left_paper), right:move_to(none, right_paper)",
+      "left:grasp(left_paper), right:grasp(right_paper)",
+      "left:pick_up(left_paper), right:pick_up(right_paper)",
+      "left:place(left_paper, trash_can), right:place(right_paper, trash_can)",
+      "left:move_to(none,paper), right:no_ops",
+      "left:grasp(middle_paper), right:no_ops",
+      "left:pick_up(middle_paper), right:no_ops",
+      "left:place(middle_paper), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_paper), right:move_to(none, right_paper)": [
+        "left:grasp(left_paper), right:grasp(right_paper)"
+      ],
+      "left:grasp(left_paper), right:grasp(right_paper)": [
+        "left:pick_up(left_paper), right:pick_up(right_paper)"
+      ],
+      "left:pick_up(left_paper), right:pick_up(right_paper)": [
+        "left:place(left_paper, trash_can), right:place(right_paper, trash_can)"
+      ],
+      "left:place(left_paper, trash_can), right:place(right_paper, trash_can)": [],
+      "left:move_to(none,paper), right:no_ops": [],
+      "left:grasp(middle_paper), right:no_ops": [
+        "left:pick_up(middle_paper), right:no_ops"
+      ],
+      "left:pick_up(middle_paper), right:no_ops": [
+        "left:place(middle_paper), right:no_ops"
+      ],
+      "left:place(middle_paper), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_collect_litter_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_collect_litter_episode_8",
+    "actions_list": [
+      "left:move_to(none, left_paper), right:move_to(none, right_paper)",
+      "left:grasp(left_paper), right:grasp( right_paper)",
+      "left:pick_up(left_paper), right:pick_up( right_paper)",
+      "left:place(left_paper,trash_can), right:place(right_paper,trash_can)",
+      "left:move_to(none,middle_paper), right:no_ops",
+      "left:grasp(middle_paper), right:no_ops",
+      "left:pick_up(middle_paper), right:no_ops",
+      "left:place(middle_paper, trash_can), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_paper), right:move_to(none, right_paper)": [
+        "left:grasp(left_paper), right:grasp( right_paper)"
+      ],
+      "left:grasp(left_paper), right:grasp( right_paper)": [
+        "left:pick_up(left_paper), right:pick_up( right_paper)"
+      ],
+      "left:pick_up(left_paper), right:pick_up( right_paper)": [
+        "left:place(left_paper,trash_can), right:place(right_paper,trash_can)"
+      ],
+      "left:place(left_paper,trash_can), right:place(right_paper,trash_can)": [],
+      "left:move_to(none,middle_paper), right:no_ops": [
+        "left:grasp(middle_paper), right:no_ops"
+      ],
+      "left:grasp(middle_paper), right:no_ops": [
+        "left:pick_up(middle_paper), right:no_ops"
+      ],
+      "left:pick_up(middle_paper), right:no_ops": [
+        "left:place(middle_paper, trash_can), right:no_ops"
+      ],
+      "left:place(middle_paper, trash_can), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_collect_litter_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_collect_pen_episode_0",
+    "actions_list": [
+      "left:move_to(none, left_marker_pen), right:move_to(none, right_marker_pen)",
+      "left:grasp(left_marker_pen), right:grasp(right_marker_pen)",
+      "left:pcik_up(left_marker_pen), right:pcik_up(right_marker_pen)",
+      "left:place(left_marker_pen, box), right:place(right_marker_pen, box)",
+      "left:move_to(none,marker), right:no_ops",
+      "left:grasp(marker), right:no_ops",
+      "left:pick_up(marker_pen), right:no_ops",
+      "left:place(marker, box), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_marker_pen), right:move_to(none, right_marker_pen)": [
+        "left:grasp(left_marker_pen), right:grasp(right_marker_pen)"
+      ],
+      "left:grasp(left_marker_pen), right:grasp(right_marker_pen)": [
+        "left:pcik_up(left_marker_pen), right:pcik_up(right_marker_pen)"
+      ],
+      "left:pcik_up(left_marker_pen), right:pcik_up(right_marker_pen)": [
+        "left:place(left_marker_pen, box), right:place(right_marker_pen, box)"
+      ],
+      "left:place(left_marker_pen, box), right:place(right_marker_pen, box)": [],
+      "left:move_to(none,marker), right:no_ops": [
+        "left:grasp(marker), right:no_ops"
+      ],
+      "left:grasp(marker), right:no_ops": [
+        "left:pick_up(marker_pen), right:no_ops"
+      ],
+      "left:pick_up(marker_pen), right:no_ops": [
+        "left:place(marker, box), right:no_ops"
+      ],
+      "left:place(marker, box), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_collect_pen_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_cover_mirror_jsh_episode_12",
+    "actions_list": [
+      "left:move_to(none, left_cloth), right:move_to(none, right_cloth)",
+      "left:grasp(cloth), right:grasp(cloth)",
+      "left:pick_up(cloth), right:pick_up(cloth)",
+      "left:place(cloth, top_of_mirror), right:place(cloth, top_of_mirror)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_cloth), right:move_to(none, right_cloth)": [
+        "left:grasp(cloth), right:grasp(cloth)"
+      ],
+      "left:grasp(cloth), right:grasp(cloth)": [
+        "left:pick_up(cloth), right:pick_up(cloth)"
+      ],
+      "left:pick_up(cloth), right:pick_up(cloth)": [
+        "left:place(cloth, top_of_mirror), right:place(cloth, top_of_mirror)"
+      ],
+      "left:place(cloth, top_of_mirror), right:place(cloth, top_of_mirror)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_cover_mirror_jsh_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_cover_mirror_jsh_episode_15",
+    "actions_list": [
+      "left:move_to(none,left_cloth), right:move_to(none, right_cloth)",
+      "left:grasp(cloth), right:grasp(cloth)",
+      "left:pick_up(cloth), right:pick_up(cloth)",
+      "left:place(cloth, top_of_mirror), right:place(cloth, top_of_mirror)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_cloth), right:move_to(none, right_cloth)": [
+        "left:grasp(cloth), right:grasp(cloth)"
+      ],
+      "left:grasp(cloth), right:grasp(cloth)": [
+        "left:pick_up(cloth), right:pick_up(cloth)"
+      ],
+      "left:pick_up(cloth), right:pick_up(cloth)": [
+        "left:place(cloth, top_of_mirror), right:place(cloth, top_of_mirror)"
+      ],
+      "left:place(cloth, top_of_mirror), right:place(cloth, top_of_mirror)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_cover_mirror_jsh_episode_15.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_cover_spary_lid_episode_17",
+    "actions_list": [
+      "left:move_to(none, spray_bottle), right:move_to(none, lid_of_the_spray_bottle)",
+      "left:grasp(spray_bottle), right:grasp(lid_of_the_spray_bottle)",
+      "left:no_ops, right:pick_up(lid_of_the_spray_bottle)",
+      "left:no_ops, right:place(lid,spray_bottle)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, spray_bottle), right:move_to(none, lid_of_the_spray_bottle)": [
+        "left:grasp(spray_bottle), right:grasp(lid_of_the_spray_bottle)"
+      ],
+      "left:grasp(spray_bottle), right:grasp(lid_of_the_spray_bottle)": [
+        "left:no_ops, right:pick_up(lid_of_the_spray_bottle)"
+      ],
+      "left:no_ops, right:pick_up(lid_of_the_spray_bottle)": [
+        "left:no_ops, right:place(lid,spray_bottle)"
+      ],
+      "left:no_ops, right:place(lid,spray_bottle)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_cover_spary_lid_episode_17.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_exchange_cup_position_episode_18",
+    "actions_list": [
+      "left:move_to(none, transparent_plastic_cup), right:move_to(none, white_ceramic_cup)",
+      "left:grasp(transparent_plastic_cup), right:grasp(white_ceramic_cup)",
+      "left:pick_up(transparent_plastic_cup), right:pick_up(white_ceramic_cup)",
+      "left:place(transparent_plastic_cup, white_ceramic_cups_original_position), right:no_ops",
+      "left:no_ops,right:place(white_ceramic_cup,transparent_plastic_cups_original_position)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, transparent_plastic_cup), right:move_to(none, white_ceramic_cup)": [
+        "left:grasp(transparent_plastic_cup), right:grasp(white_ceramic_cup)"
+      ],
+      "left:grasp(transparent_plastic_cup), right:grasp(white_ceramic_cup)": [
+        "left:pick_up(transparent_plastic_cup), right:pick_up(white_ceramic_cup)"
+      ],
+      "left:pick_up(transparent_plastic_cup), right:pick_up(white_ceramic_cup)": [
+        "left:place(transparent_plastic_cup, white_ceramic_cups_original_position), right:no_ops"
+      ],
+      "left:place(transparent_plastic_cup, white_ceramic_cups_original_position), right:no_ops": [
+        "left:no_ops,right:place(white_ceramic_cup,transparent_plastic_cups_original_position)"
+      ],
+      "left:no_ops,right:place(white_ceramic_cup,transparent_plastic_cups_original_position)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_exchange_cup_position_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_flip_bottle_episode_19",
+    "actions_list": [
+      "right:move_to(none, bottle), left:no_ops",
+      "right:grasp(bottle),left:no_ops",
+      "right:pick_up(bottle),left:no_ops",
+      "right:turn(bottle,clockwise,horizontally_on_table), left:no_ops",
+      "transfer(right, left, bottle)",
+      "right:no_ops,left:turn(bottle,clockwise,inverted)",
+      "right:no_ops,left:place(bottle,table)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, bottle), left:no_ops": [
+        "right:grasp(bottle),left:no_ops"
+      ],
+      "right:grasp(bottle),left:no_ops": [
+        "right:pick_up(bottle),left:no_ops"
+      ],
+      "right:pick_up(bottle),left:no_ops": [
+        "right:turn(bottle,clockwise,horizontally_on_table), left:no_ops"
+      ],
+      "right:turn(bottle,clockwise,horizontally_on_table), left:no_ops": [
+        "transfer(right, left, bottle)"
+      ],
+      "transfer(right, left, bottle)": [
+        "right:no_ops,left:turn(bottle,clockwise,inverted)"
+      ],
+      "right:no_ops,left:turn(bottle,clockwise,inverted)": [
+        "right:no_ops,left:place(bottle,table)"
+      ],
+      "right:no_ops,left:place(bottle,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_flip_bottle_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_flip_calendar_page_episode_12",
+    "actions_list": [
+      "left:move_to(none, calendar), right:move_to(none, calendar)",
+      "left:grasp(top_page_of_the_calendar),right:grasp(top_page_of_the_calendar)",
+      "left:pick_up(top_page_of_the_calendar),right:pick_up(top_page_of_the_calendar)",
+      "left:turn(top_page_of_the_calendar, up,backside),right:turn(top_page_of_the_calendar, up,backside)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, calendar), right:move_to(none, calendar)": [
+        "left:grasp(top_page_of_the_calendar),right:grasp(top_page_of_the_calendar)"
+      ],
+      "left:grasp(top_page_of_the_calendar),right:grasp(top_page_of_the_calendar)": [
+        "left:pick_up(top_page_of_the_calendar),right:pick_up(top_page_of_the_calendar)"
+      ],
+      "left:pick_up(top_page_of_the_calendar),right:pick_up(top_page_of_the_calendar)": [
+        "left:turn(top_page_of_the_calendar, up,backside),right:turn(top_page_of_the_calendar, up,backside)"
+      ],
+      "left:turn(top_page_of_the_calendar, up,backside),right:turn(top_page_of_the_calendar, up,backside)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_flip_calendar_page_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_fold_towel_episode_1",
+    "actions_list": [
+      "left:move_to(none, left_cloth), right:move_to(none, right_cloth)",
+      "left:grasp(left_cloth), right:grasp(right_cloth)",
+      "left:fold(left_cloth, front), right:fold(right_cloth,front)",
+      "left:no_ops, right:grasp(right_cloth)",
+      "left:no_ops, right:fold(right_cloth,left)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_cloth), right:move_to(none, right_cloth)": [
+        "left:grasp(left_cloth), right:grasp(right_cloth)"
+      ],
+      "left:grasp(left_cloth), right:grasp(right_cloth)": [
+        "left:fold(left_cloth, front), right:fold(right_cloth,front)"
+      ],
+      "left:fold(left_cloth, front), right:fold(right_cloth,front)": [
+        "left:no_ops, right:grasp(right_cloth)"
+      ],
+      "left:no_ops, right:grasp(right_cloth)": [
+        "left:no_ops, right:fold(right_cloth,left)"
+      ],
+      "left:no_ops, right:fold(right_cloth,left)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_fold_towel_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_fold_towel_episode_19",
+    "actions_list": [
+      "left:move_to(none,left_cloth), right:move_to(none,right_cloth)",
+      "left:grasp(left_side_of_the_cloth), right:grasp(right_side_of_the_cloth)",
+      "left:fold(cloth, backside), right:fold(cloth, backside)",
+      "left:no_ops, right:grasp(right_cloth)",
+      "left:no_ops,right:=fold(right_cloth,left)",
+      "left:fold(cloth, right), right:fold(cloth, left)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_cloth), right:move_to(none,right_cloth)": [
+        "left:grasp(left_side_of_the_cloth), right:grasp(right_side_of_the_cloth)"
+      ],
+      "left:grasp(left_side_of_the_cloth), right:grasp(right_side_of_the_cloth)": [
+        "left:fold(cloth, backside), right:fold(cloth, backside)"
+      ],
+      "left:fold(cloth, backside), right:fold(cloth, backside)": [
+        "left:no_ops, right:grasp(right_cloth)"
+      ],
+      "left:no_ops, right:grasp(right_cloth)": [
+        "left:no_ops,right:=fold(right_cloth,left)"
+      ],
+      "left:no_ops,right:=fold(right_cloth,left)": [
+        "left:fold(cloth, right), right:fold(cloth, left)"
+      ],
+      "left:fold(cloth, right), right:fold(cloth, left)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_fold_towel_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_get_cold_water_episode_7",
+    "actions_list": [
+      "left:move_to(none, mug), right:no_ops",
+      "left:grasp(mug), right:no_ops",
+      "left:pick_up(mug), right:no_ops",
+      "left:move_to(mug, below_the_cold_dispenser), right:move_to(none, dispenser)",
+      "left:hold(mug, dispenser), right:press(the_dispenser_switch)",
+      "left:place(below_the_cold_dispenser,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, mug), right:no_ops": [
+        "left:grasp(mug), right:no_ops"
+      ],
+      "left:grasp(mug), right:no_ops": [
+        "left:pick_up(mug), right:no_ops"
+      ],
+      "left:pick_up(mug), right:no_ops": [
+        "left:move_to(mug, below_the_cold_dispenser), right:move_to(none, dispenser)"
+      ],
+      "left:move_to(mug, below_the_cold_dispenser), right:move_to(none, dispenser)": [
+        "left:hold(mug, dispenser), right:press(the_dispenser_switch)"
+      ],
+      "left:hold(mug, dispenser), right:press(the_dispenser_switch)": [
+        "left:place(below_the_cold_dispenser,table), right:no_ops"
+      ],
+      "left:place(below_the_cold_dispenser,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_get_cold_water_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_get_hot_water_episode_3",
+    "actions_list": [
+      "left:move_to(none, mug), right:no_ops",
+      "left:grasp(mug), right:no_ops",
+      "left:pick_up(mug), right:no_ops",
+      "left:move_to(mug, under_the_hot_dispenser), right:move_to(none, dispenser)",
+      "left:hold(mug), right:press(the_dispenser_switch)",
+      "left:place(mug, dispenser), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, mug), right:no_ops": [
+        "left:grasp(mug), right:no_ops"
+      ],
+      "left:grasp(mug), right:no_ops": [
+        "left:pick_up(mug), right:no_ops"
+      ],
+      "left:pick_up(mug), right:no_ops": [
+        "left:move_to(mug, under_the_hot_dispenser), right:move_to(none, dispenser)"
+      ],
+      "left:move_to(mug, under_the_hot_dispenser), right:move_to(none, dispenser)": [
+        "left:hold(mug), right:press(the_dispenser_switch)"
+      ],
+      "left:hold(mug), right:press(the_dispenser_switch)": [
+        "left:place(mug, dispenser), right:no_ops"
+      ],
+      "left:place(mug, dispenser), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_get_hot_water_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_blue_shoe_episode_19",
+    "actions_list": [
+      "right:move_to(none, right_slipper), left:move_to(none,left_slipper)",
+      "right:grasp(right_slipper), left:grasp(left_slipper)",
+      "right:pick_up(right_slipper), left:pick_up(left_slipper)",
+      "right:insert(right_slipper,left_slipper), left:no_ops",
+      "right:place(right_slipper, table), left:place(left_slipper, table)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, right_slipper), left:move_to(none,left_slipper)": [
+        "right:grasp(right_slipper), left:grasp(left_slipper)"
+      ],
+      "right:grasp(right_slipper), left:grasp(left_slipper)": [
+        "right:pick_up(right_slipper), left:pick_up(left_slipper)"
+      ],
+      "right:pick_up(right_slipper), left:pick_up(left_slipper)": [
+        "right:insert(right_slipper,left_slipper), left:no_ops"
+      ],
+      "right:insert(right_slipper,left_slipper), left:no_ops": [
+        "right:place(right_slipper, table), left:place(left_slipper, table)"
+      ],
+      "right:place(right_slipper, table), left:place(left_slipper, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_insert_blue_shoe_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_book_shelf_episode_0",
+    "actions_list": [
+      "right:move_to(none, blue_book), left:no_ops",
+      "right:grasp(blue_book), left:no_ops",
+      "right:pick_up(blue_book), left:no_ops",
+      "transfer(right, left, book)",
+      "left:place(blue_book, bookshelf), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, blue_book), left:no_ops": [
+        "right:grasp(blue_book), left:no_ops"
+      ],
+      "right:grasp(blue_book), left:no_ops": [
+        "right:pick_up(blue_book), left:no_ops"
+      ],
+      "right:pick_up(blue_book), left:no_ops": [
+        "transfer(right, left, book)"
+      ],
+      "transfer(right, left, book)": [
+        "left:place(blue_book, bookshelf), right:no_ops"
+      ],
+      "left:place(blue_book, bookshelf), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_insert_book_shelf_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_pen_container_episode_7",
+    "actions_list": [
+      "right:move_to(none, right_pen), left:move_to(none, left_pen)",
+      "right:grasp(right_pen), left:grasp(left_pen)",
+      "right:pick_up(right_pen), left:pick_up(left_pen)",
+      "right:place(right_pen, pen_holder), left:no_ops",
+      "right:no_ops, left:place(left_pen, pen_holder)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, right_pen), left:move_to(none, left_pen)": [
+        "right:grasp(right_pen), left:grasp(left_pen)"
+      ],
+      "right:grasp(right_pen), left:grasp(left_pen)": [
+        "right:pick_up(right_pen), left:pick_up(left_pen)"
+      ],
+      "right:pick_up(right_pen), left:pick_up(left_pen)": [
+        "right:place(right_pen, pen_holder), left:no_ops"
+      ],
+      "right:place(right_pen, pen_holder), left:no_ops": [
+        "right:no_ops, left:place(left_pen, pen_holder)"
+      ],
+      "right:no_ops, left:place(left_pen, pen_holder)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_insert_pen_container_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_7",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none,phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)",
+      "left:no_ops,right:place(phone,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none,phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)": [
+        "left:no_ops,right:place(phone,table)"
+      ],
+      "left:no_ops,right:place(phone,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_insert_phone_2_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_11",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable,phone_charging_port), right:hold(phone)",
+      "left:no_ops, right:place(phone,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable,phone_charging_port), right:hold(phone)"
+      ],
+      "left:insert(charging_cable,phone_charging_port), right:hold(phone)": [
+        "left:no_ops, right:place(phone,table)"
+      ],
+      "left:no_ops, right:place(phone,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_insert_phone_2_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_18",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)",
+      "left:no_ops,right:place(phone,table)",
+      "left:place(charging_cable, none), right:move_to(phone, charging_cable)",
+      "left:no_ops, right:place(phone, table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)": [
+        "left:no_ops,right:place(phone,table)"
+      ],
+      "left:no_ops,right:place(phone,table)": [],
+      "left:place(charging_cable, none), right:move_to(phone, charging_cable)": [],
+      "left:no_ops, right:place(phone, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_insert_phone_2_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_36",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)",
+      "left:no_ops, right:place(phone,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)": [
+        "left:no_ops, right:place(phone,table)"
+      ],
+      "left:no_ops, right:place(phone,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_insert_phone_2_episode_36.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_41",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)",
+      "left:no_ops, right:place(phone,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)": [
+        "left:no_ops, right:place(phone,table)"
+      ],
+      "left:no_ops, right:place(phone,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_insert_phone_2_episode_41.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_59",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)",
+      "left:no_ops, right:place(phone,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)": [
+        "left:no_ops, right:place(phone,table)"
+      ],
+      "left:no_ops, right:place(phone,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_insert_phone_2_episode_59.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_71",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)",
+      "left:no_ops, right:place(phone,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)": [
+        "left:no_ops, right:place(phone,table)"
+      ],
+      "left:no_ops, right:place(phone,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_insert_phone_2_episode_71.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_open_laptop_episode_1",
+    "actions_list": [
+      "left:move_to(none,left_laptop_lid), right:move_to(none,right_laptop_lid)",
+      "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)",
+      "left:turn(laptop,up,open), right:turn(laptop,up,open)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_laptop_lid), right:move_to(none,right_laptop_lid)": [
+        "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)"
+      ],
+      "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)": [
+        "left:turn(laptop,up,open), right:turn(laptop,up,open)"
+      ],
+      "left:turn(laptop,up,open), right:turn(laptop,up,open)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_open_laptop_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_open_laptop_episode_6",
+    "actions_list": [
+      "left:move_to(none,left_laptop_lid), right:move_to(none,right_laptop_lid)",
+      "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)",
+      "left:turn(laptop,up,open), right:turn(laptop,up,open)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_laptop_lid), right:move_to(none,right_laptop_lid)": [
+        "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)"
+      ],
+      "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)": [
+        "left:turn(laptop,up,open), right:turn(laptop,up,open)"
+      ],
+      "left:turn(laptop,up,open), right:turn(laptop,up,open)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_open_laptop_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_open_laptop_episode_8",
+    "actions_list": [
+      "left:move_to(none, left_laptop_lid), right:move_to(none, right_laptop_lid)",
+      "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)",
+      "left:turn(laptop,up,open), right:turn(laptop,up,open)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_laptop_lid), right:move_to(none, right_laptop_lid)": [
+        "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)"
+      ],
+      "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)": [
+        "left:turn(laptop,up,open), right:turn(laptop,up,open)"
+      ],
+      "left:turn(laptop,up,open), right:turn(laptop,up,open)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_open_laptop_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_open_laptop_episode_19",
+    "actions_list": [
+      "left:move_to(none,left_laptop_lid), right:move_to(none,left_laptop_lid)",
+      "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)",
+      "left:turn(laptop,up,open), right:turn(laptop,up,open)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_laptop_lid), right:move_to(none,left_laptop_lid)": [
+        "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)"
+      ],
+      "left:grasp(left_laptop_lid), right:grasp(right_laptop_lid)": [
+        "left:turn(laptop,up,open), right:turn(laptop,up,open)"
+      ],
+      "left:turn(laptop,up,open), right:turn(laptop,up,open)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_open_laptop_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_durant_shirt_episode_2",
+    "actions_list": [
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)",
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)",
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)",
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)",
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)",
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+    ],
+    "gt_dag": {
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)": [
+        "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)"
+      ],
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)": [
+        "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)": [
+        "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)": [
+        "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)": [
+        "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pack_durant_shirt_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_durant_shirt_episode_11",
+    "actions_list": [
+      "left:move_to(none,bottom_left_corner_of_the_jersey), right:move_to(none,bottom_right_corner_of_the_jersey)",
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)",
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)",
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)",
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)",
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)",
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,bottom_left_corner_of_the_jersey), right:move_to(none,bottom_right_corner_of_the_jersey)": [
+        "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)"
+      ],
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)": [
+        "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)"
+      ],
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)": [
+        "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)": [
+        "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)": [
+        "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)": [
+        "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pack_durant_shirt_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_nvidia_shirt_episode_0",
+    "actions_list": [
+      "left:move_to(none,bottom_left_corner_of_the_t-shirt), right:move_to(none,bottom_right_corner_of_the_t-shirt)",
+      "left:grasp(bottom_left_corner_of_the_t-shirt), right:grasp(bottom_right_corner_of_the_t-shirt)",
+      "left:pick_up(bottom_left_corner_of_the_t-shirt), right:pick_up(bottom_right_corner_of_the_t-shirt)",
+      "left:fold(bottom_half_of_the_t-shirt,backward), right:fold(bottom_half_of_the_t-shirt,backward)",
+      "left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt)",
+      "left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt)",
+      "left:fold(folded_bottom_half_of_the_t-shirt,backward), right:fold(folded_bottom_half_of_the_t-shirt,backward)",
+      "left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt)",
+      "left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt)",
+      "left:fold(folded_bottom_half_of_the_t-shirt,backward), right:fold(folded_bottom_half_of_the_t-shirt,backward)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,bottom_left_corner_of_the_t-shirt), right:move_to(none,bottom_right_corner_of_the_t-shirt)": [
+        "left:grasp(bottom_left_corner_of_the_t-shirt), right:grasp(bottom_right_corner_of_the_t-shirt)"
+      ],
+      "left:grasp(bottom_left_corner_of_the_t-shirt), right:grasp(bottom_right_corner_of_the_t-shirt)": [
+        "left:pick_up(bottom_left_corner_of_the_t-shirt), right:pick_up(bottom_right_corner_of_the_t-shirt)"
+      ],
+      "left:pick_up(bottom_left_corner_of_the_t-shirt), right:pick_up(bottom_right_corner_of_the_t-shirt)": [
+        "left:fold(bottom_half_of_the_t-shirt,backward), right:fold(bottom_half_of_the_t-shirt,backward)"
+      ],
+      "left:fold(bottom_half_of_the_t-shirt,backward), right:fold(bottom_half_of_the_t-shirt,backward)": [
+        "left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt)"
+      ],
+      "left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt)": [
+        "left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt)"
+      ],
+      "left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt)": [
+        "left:fold(folded_bottom_half_of_the_t-shirt,backward), right:fold(folded_bottom_half_of_the_t-shirt,backward)"
+      ],
+      "left:fold(folded_bottom_half_of_the_t-shirt,backward), right:fold(folded_bottom_half_of_the_t-shirt,backward)": [
+        "left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt)<1>"
+      ],
+      "left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt)<1>": [
+        "left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt)<1>"
+      ],
+      "left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt)<1>": [
+        "left:fold(folded_bottom_half_of_the_t-shirt,backward), right:fold(folded_bottom_half_of_the_t-shirt,backward)<1>"
+      ],
+      "left:fold(folded_bottom_half_of_the_t-shirt,backward), right:fold(folded_bottom_half_of_the_t-shirt,backward)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pack_nvidia_shirt_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_nvidia_shirt_episode_14",
+    "actions_list": [
+      "left:move_to(none,bottom_left_corner_of_the_t-shirt), right:move_to(none,bottom_right_corner_of_the_t-shirt)",
+      "left:grasp(bottom_left_corner_of_the_t-shirt), right:grasp(bottom_right_corner_of_the_t-shirt)",
+      "left:pick_up(bottom_left_corner_of_the_t-shirt), right:pick_up(bottom_right_corner_of_the_t-shirt)",
+      "left:fold(bottom_half_of_the_t-shirt,backward), right:fold(bottom_half_of_the_t-shirt,backward)",
+      "left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt)",
+      "left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt)",
+      "left:fold(folded_bottom_half_of_the_t-shirt,backward), right:fold(folded_bottom_half_of_the_t-shirt,backward)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,bottom_left_corner_of_the_t-shirt), right:move_to(none,bottom_right_corner_of_the_t-shirt)": [
+        "left:grasp(bottom_left_corner_of_the_t-shirt), right:grasp(bottom_right_corner_of_the_t-shirt)"
+      ],
+      "left:grasp(bottom_left_corner_of_the_t-shirt), right:grasp(bottom_right_corner_of_the_t-shirt)": [
+        "left:pick_up(bottom_left_corner_of_the_t-shirt), right:pick_up(bottom_right_corner_of_the_t-shirt)"
+      ],
+      "left:pick_up(bottom_left_corner_of_the_t-shirt), right:pick_up(bottom_right_corner_of_the_t-shirt)": [
+        "left:fold(bottom_half_of_the_t-shirt,backward), right:fold(bottom_half_of_the_t-shirt,backward)"
+      ],
+      "left:fold(bottom_half_of_the_t-shirt,backward), right:fold(bottom_half_of_the_t-shirt,backward)": [
+        "left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt)"
+      ],
+      "left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt)": [
+        "left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt)"
+      ],
+      "left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt)": [
+        "left:fold(folded_bottom_half_of_the_t-shirt,backward), right:fold(folded_bottom_half_of_the_t-shirt,backward)"
+      ],
+      "left:fold(folded_bottom_half_of_the_t-shirt,backward), right:fold(folded_bottom_half_of_the_t-shirt,backward)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pack_nvidia_shirt_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_soccer_shirt_episode_1",
+    "actions_list": [
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)",
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)",
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)",
+      "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)",
+      "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)",
+      "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)",
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)",
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)",
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+    ],
+    "gt_dag": {
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)": [
+        "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)"
+      ],
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)": [
+        "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)": [
+        "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)"
+      ],
+      "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)": [
+        "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)"
+      ],
+      "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)": [
+        "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)"
+      ],
+      "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)": [
+        "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)": [
+        "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)": [
+        "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pack_soccer_shirt_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_soccer_shirt_episode_7",
+    "actions_list": [
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)",
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)",
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)",
+      "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)",
+      "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)",
+      "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)",
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)",
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)",
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+    ],
+    "gt_dag": {
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)": [
+        "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)"
+      ],
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)": [
+        "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)": [
+        "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)"
+      ],
+      "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)": [
+        "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)"
+      ],
+      "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)": [
+        "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)"
+      ],
+      "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)": [
+        "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)": [
+        "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)": [
+        "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pack_soccer_shirt_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_soccer_shirt_episode_9",
+    "actions_list": [
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)",
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)",
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)",
+      "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)",
+      "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)",
+      "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)",
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)",
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)",
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+    ],
+    "gt_dag": {
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)": [
+        "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)"
+      ],
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)": [
+        "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)": [
+        "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)"
+      ],
+      "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)": [
+        "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)"
+      ],
+      "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)": [
+        "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)"
+      ],
+      "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)": [
+        "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)": [
+        "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)": [
+        "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pack_soccer_shirt_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_soccer_shirt_episode_17",
+    "actions_list": [
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)",
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)",
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)",
+      "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)",
+      "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)",
+      "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)",
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)",
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)",
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+    ],
+    "gt_dag": {
+      "left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey)": [
+        "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)"
+      ],
+      "left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey)": [
+        "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(bottom_half_of_the_jersey,backward), right:fold(bottom_half_of_the_jersey,backward)": [
+        "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)"
+      ],
+      "left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey)": [
+        "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)"
+      ],
+      "left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey)": [
+        "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)"
+      ],
+      "left:fold(left_sleeve_of_the_jersey,right), right:fold(right_sleeve_of_the_jersey,left)": [
+        "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey)": [
+        "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)"
+      ],
+      "left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey)": [
+        "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)"
+      ],
+      "left:fold(folded_bottom_half_of_the_jersey,backward), right:fold(folded_bottom_half_of_the_jersey,backward)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pack_soccer_shirt_episode_17.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_8",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(drawer, napkin_pack), right:no_ops",
+      "left:grasp(napkin_pack), right:no_ops",
+      "left:pick_up(napkin_pack), right:no_ops",
+      "left:place(napkin_pack, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(drawer, napkin_pack), right:no_ops"
+      ],
+      "left:move_to(drawer, napkin_pack), right:no_ops": [
+        "left:grasp(napkin_pack), right:no_ops"
+      ],
+      "left:grasp(napkin_pack), right:no_ops": [
+        "left:pick_up(napkin_pack), right:no_ops"
+      ],
+      "left:pick_up(napkin_pack), right:no_ops": [
+        "left:place(napkin_pack, open_drawer), right:no_ops"
+      ],
+      "left:place(napkin_pack, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_paper_on_second_layer_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_9",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, napkin_pack), right:no_ops",
+      "left:grasp(napkin_pack), right:no_ops",
+      "left:pick_up(napkin_pack), right:no_ops",
+      "left:place(napkin_pack, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, napkin_pack), right:no_ops"
+      ],
+      "left:move_to(none, napkin_pack), right:no_ops": [
+        "left:grasp(napkin_pack), right:no_ops"
+      ],
+      "left:grasp(napkin_pack), right:no_ops": [
+        "left:pick_up(napkin_pack), right:no_ops"
+      ],
+      "left:pick_up(napkin_pack), right:no_ops": [
+        "left:place(napkin_pack, open_drawer), right:no_ops"
+      ],
+      "left:place(napkin_pack, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_paper_on_second_layer_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_14",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, napkin_pack), right:no_ops",
+      "left:grasp(napkin_pack), right:no_ops",
+      "left:pick_up(napkin_pack), right:no_ops",
+      "left:place(napkin_pack, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, napkin_pack), right:no_ops"
+      ],
+      "left:move_to(none, napkin_pack), right:no_ops": [
+        "left:grasp(napkin_pack), right:no_ops"
+      ],
+      "left:grasp(napkin_pack), right:no_ops": [
+        "left:pick_up(napkin_pack), right:no_ops"
+      ],
+      "left:pick_up(napkin_pack), right:no_ops": [
+        "left:place(napkin_pack, open_drawer), right:no_ops"
+      ],
+      "left:place(napkin_pack, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_paper_on_second_layer_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_18",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, napkin_pack), right:no_ops",
+      "left:grasp(napkin_pack), right:no_ops",
+      "left:pick_up(napkin_pack), right:no_ops",
+      "left:place(napkin_pack, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, napkin_pack), right:no_ops"
+      ],
+      "left:move_to(none, napkin_pack), right:no_ops": [
+        "left:grasp(napkin_pack), right:no_ops"
+      ],
+      "left:grasp(napkin_pack), right:no_ops": [
+        "left:pick_up(napkin_pack), right:no_ops"
+      ],
+      "left:pick_up(napkin_pack), right:no_ops": [
+        "left:place(napkin_pack, open_drawer), right:no_ops"
+      ],
+      "left:place(napkin_pack, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_paper_on_second_layer_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_23",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, napkin_pack), right:no_ops",
+      "left:grasp(napkin_pack), right:no_ops",
+      "left:pick_up(napkin_pack), right:no_ops",
+      "left:grasp(open_drawer), right:no_ops",
+      "left:place(napkin_pack, drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, napkin_pack), right:no_ops"
+      ],
+      "left:move_to(none, napkin_pack), right:no_ops": [
+        "left:grasp(napkin_pack), right:no_ops"
+      ],
+      "left:grasp(napkin_pack), right:no_ops": [
+        "left:pick_up(napkin_pack), right:no_ops"
+      ],
+      "left:pick_up(napkin_pack), right:no_ops": [
+        "left:grasp(open_drawer), right:no_ops"
+      ],
+      "left:grasp(open_drawer), right:no_ops": [
+        "left:place(napkin_pack, drawer), right:no_ops"
+      ],
+      "left:place(napkin_pack, drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_paper_on_second_layer_episode_23.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_24",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, napkin_pack), right:no_ops",
+      "left:grasp(napkin_pack), right:no_ops",
+      "left:pick_up(napkin_pack), right:no_ops",
+      "left:place(napkin_pack, open_drawer), right:no_ops",
+      "left:grasp(the_second_drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, napkin_pack), right:no_ops"
+      ],
+      "left:move_to(none, napkin_pack), right:no_ops": [
+        "left:grasp(napkin_pack), right:no_ops"
+      ],
+      "left:grasp(napkin_pack), right:no_ops": [
+        "left:pick_up(napkin_pack), right:no_ops"
+      ],
+      "left:pick_up(napkin_pack), right:no_ops": [
+        "left:place(napkin_pack, open_drawer), right:no_ops"
+      ],
+      "left:place(napkin_pack, open_drawer), right:no_ops": [
+        "left:grasp(the_second_drawer), right:no_ops"
+      ],
+      "left:grasp(the_second_drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_paper_on_second_layer_episode_24.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_25",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, napkin_pack), right:no_ops",
+      "left:grasp(napkin_pack), right:no_ops",
+      "left:pick_up(napkin_pack), right:no_ops",
+      "left:place(napkin_pack, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, napkin_pack), right:no_ops"
+      ],
+      "left:move_to(none, napkin_pack), right:no_ops": [
+        "left:grasp(napkin_pack), right:no_ops"
+      ],
+      "left:grasp(napkin_pack), right:no_ops": [
+        "left:pick_up(napkin_pack), right:no_ops"
+      ],
+      "left:pick_up(napkin_pack), right:no_ops": [
+        "left:place(napkin_pack, open_drawer), right:no_ops"
+      ],
+      "left:place(napkin_pack, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_paper_on_second_layer_episode_25.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_third_layer_episode_3",
+    "actions_list": [
+      "left:move_to(none, the_bottom_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_bottom_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, napkin_pack), right:no_ops",
+      "left:grasp(napkin_pack), right:no_ops",
+      "left:pick_up(napkin_pack), right:no_ops",
+      "left:place(napkin_pack, open_drawer), right:no_ops",
+      "left:grasp(drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_bottom_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_bottom_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_bottom_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, napkin_pack), right:no_ops"
+      ],
+      "left:move_to(none, napkin_pack), right:no_ops": [
+        "left:grasp(napkin_pack), right:no_ops"
+      ],
+      "left:grasp(napkin_pack), right:no_ops": [
+        "left:pick_up(napkin_pack), right:no_ops"
+      ],
+      "left:pick_up(napkin_pack), right:no_ops": [
+        "left:place(napkin_pack, open_drawer), right:no_ops"
+      ],
+      "left:place(napkin_pack, open_drawer), right:no_ops": [
+        "left:grasp(drawer), right:no_ops"
+      ],
+      "left:grasp(drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_paper_on_third_layer_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pick_book_into_backpack_episode_9",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, book)",
+      "left:move_to(backpack), right:pick_up(book)",
+      "left:pull(backpack,open),right:place(book,backpack)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, book)": [
+        "left:move_to(backpack), right:pick_up(book)"
+      ],
+      "left:move_to(backpack), right:pick_up(book)": [
+        "left:pull(backpack,open),right:place(book,backpack)"
+      ],
+      "left:pull(backpack,open),right:place(book,backpack)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pick_book_into_backpack_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pick_power_bank_episode_3",
+    "actions_list": [
+      "right:move_to(none, power_bank), left:move_to(plastic_bag)",
+      "right:grasp(power_bank), left:grasp(plastic_bag)",
+      "right:pick_up(power_bank), left:pick_up(plastic_bag)",
+      "right:place(power_bank, bag), left:no_ops",
+      "right:place(power_bank, bag), left:pick_up(bag)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, power_bank), left:move_to(plastic_bag)": [
+        "right:grasp(power_bank), left:grasp(plastic_bag)"
+      ],
+      "right:grasp(power_bank), left:grasp(plastic_bag)": [
+        "right:pick_up(power_bank), left:pick_up(plastic_bag)"
+      ],
+      "right:pick_up(power_bank), left:pick_up(plastic_bag)": [
+        "right:place(power_bank, bag), left:no_ops"
+      ],
+      "right:place(power_bank, bag), left:no_ops": [
+        "right:place(power_bank, bag), left:pick_up(bag)"
+      ],
+      "right:place(power_bank, bag), left:pick_up(bag)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pick_power_bank_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pick_power_bank_episode_4",
+    "actions_list": [
+      "right:move_to(none, power_bank), left:move_to(none, plastic_bag)",
+      "right:grasp( power_bank), left:grasp(plastic_bag)",
+      "right:pick_up( power_bank), left:pick_up(plastic_bag)",
+      "left_no_ops,right:place(power_bank,plastic_bag)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, power_bank), left:move_to(none, plastic_bag)": [
+        "right:grasp( power_bank), left:grasp(plastic_bag)"
+      ],
+      "right:grasp( power_bank), left:grasp(plastic_bag)": [
+        "right:pick_up( power_bank), left:pick_up(plastic_bag)"
+      ],
+      "right:pick_up( power_bank), left:pick_up(plastic_bag)": [
+        "left_no_ops,right:place(power_bank,plastic_bag)"
+      ],
+      "left_no_ops,right:place(power_bank,plastic_bag)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_pick_power_bank_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_place_octopus_upright_episode_7",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, octopus)",
+      "left:no_ops, right:grasp(octopus)",
+      "left:no_ops, right:pick_up(octopus)",
+      "transfer(right, left, octopus)",
+      "left:turn(octopus,clockwise,inverted), right:no_ops",
+      "left:place(octopus,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, octopus)": [
+        "left:no_ops, right:grasp(octopus)"
+      ],
+      "left:no_ops, right:grasp(octopus)": [
+        "left:no_ops, right:pick_up(octopus)"
+      ],
+      "left:no_ops, right:pick_up(octopus)": [
+        "transfer(right, left, octopus)"
+      ],
+      "transfer(right, left, octopus)": [
+        "left:turn(octopus,clockwise,inverted), right:no_ops"
+      ],
+      "left:turn(octopus,clockwise,inverted), right:no_ops": [
+        "left:place(octopus,table), right:no_ops"
+      ],
+      "left:place(octopus,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_place_octopus_upright_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_0",
+    "actions_list": [
+      "left:move_to(none, top_of_paper_pump), right:move_to(none,top_of_sanitizer)",
+      "left:grasp(tissue), right:no_ops",
+      "left:pick_up(tissue), right:grasp(sanitizer_pump)",
+      "left:move_to(tissue, under_dispenser), right:press(sanitizer_pump)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, top_of_paper_pump), right:move_to(none,top_of_sanitizer)": [
+        "left:grasp(tissue), right:no_ops"
+      ],
+      "left:grasp(tissue), right:no_ops": [
+        "left:pick_up(tissue), right:grasp(sanitizer_pump)"
+      ],
+      "left:pick_up(tissue), right:grasp(sanitizer_pump)": [
+        "left:move_to(tissue, under_dispenser), right:press(sanitizer_pump)"
+      ],
+      "left:move_to(tissue, under_dispenser), right:press(sanitizer_pump)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_press_alcohol_sanitizing_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_4",
+    "actions_list": [
+      "left:no_ops, right:move_to(tissue)",
+      "left:no_ops, right:grasp(tissue)",
+      "left:no_ops, right:pick_up(tissue)",
+      "transfer(right, left, tissue)",
+      "left:no_ops, right:grasp(sanitizer_pump)",
+      "left:move_to(tissue,under_sanitizer), right:press(sanitizer_pump)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(tissue)": [
+        "left:no_ops, right:grasp(tissue)"
+      ],
+      "left:no_ops, right:grasp(tissue)": [
+        "left:no_ops, right:pick_up(tissue)"
+      ],
+      "left:no_ops, right:pick_up(tissue)": [
+        "transfer(right, left, tissue)"
+      ],
+      "transfer(right, left, tissue)": [
+        "left:no_ops, right:grasp(sanitizer_pump)"
+      ],
+      "left:no_ops, right:grasp(sanitizer_pump)": [
+        "left:move_to(tissue,under_sanitizer), right:press(sanitizer_pump)"
+      ],
+      "left:move_to(tissue,under_sanitizer), right:press(sanitizer_pump)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_press_alcohol_sanitizing_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_5",
+    "actions_list": [
+      "left:no_ops, right:move_to(tissue)",
+      "left:no_ops, right:grasp(tissue)",
+      "left:no_ops, right:pick_up(tissue)",
+      "transfer(right, left, tissue)",
+      "left:move_to(tissue_box,under_sanitizer), right:grasp(sanitizer_pump)",
+      "left:hold(tissue), right:press(sanitizer_pump)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(tissue)": [
+        "left:no_ops, right:grasp(tissue)"
+      ],
+      "left:no_ops, right:grasp(tissue)": [
+        "left:no_ops, right:pick_up(tissue)"
+      ],
+      "left:no_ops, right:pick_up(tissue)": [
+        "transfer(right, left, tissue)"
+      ],
+      "transfer(right, left, tissue)": [
+        "left:move_to(tissue_box,under_sanitizer), right:grasp(sanitizer_pump)"
+      ],
+      "left:move_to(tissue_box,under_sanitizer), right:grasp(sanitizer_pump)": [
+        "left:hold(tissue), right:press(sanitizer_pump)"
+      ],
+      "left:hold(tissue), right:press(sanitizer_pump)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_press_alcohol_sanitizing_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_11",
+    "actions_list": [
+      "left:move_to(none, tissue_box), right:no_ops",
+      "left:grasp(tissue), right:move_to(none,sanitizer)",
+      "left:pick_up(tissue), right:grasp(sanitizer)",
+      "left:move_to(tissue_box, under_sanitizer), right:press(sanitizer_pump)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, tissue_box), right:no_ops": [
+        "left:grasp(tissue), right:move_to(none,sanitizer)"
+      ],
+      "left:grasp(tissue), right:move_to(none,sanitizer)": [
+        "left:pick_up(tissue), right:grasp(sanitizer)"
+      ],
+      "left:pick_up(tissue), right:grasp(sanitizer)": [
+        "left:move_to(tissue_box, under_sanitizer), right:press(sanitizer_pump)"
+      ],
+      "left:move_to(tissue_box, under_sanitizer), right:press(sanitizer_pump)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_press_alcohol_sanitizing_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_15",
+    "actions_list": [
+      "left:move_to(none, tissue_box), right:move_to(none,sanitizer)",
+      "left:grasp(tissue), right:no_ops",
+      "left:pick_up(tissue), right:grasp(sanitizer)",
+      "left:move_to(tissue, sanitizer_bottle), right:press(sanitizer_pump)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, tissue_box), right:move_to(none,sanitizer)": [
+        "left:grasp(tissue), right:no_ops"
+      ],
+      "left:grasp(tissue), right:no_ops": [
+        "left:pick_up(tissue), right:grasp(sanitizer)"
+      ],
+      "left:pick_up(tissue), right:grasp(sanitizer)": [
+        "left:move_to(tissue, sanitizer_bottle), right:press(sanitizer_pump)"
+      ],
+      "left:move_to(tissue, sanitizer_bottle), right:press(sanitizer_pump)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_press_alcohol_sanitizing_episode_15.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_18",
+    "actions_list": [
+      "right:move_to(none, tissue_box), left:no_ops",
+      "right:grasp(tissue), left:move_to(none, sanitizer_bottle)",
+      "right:pick_up(tissue), left:grasp(sanitizer_bottle)",
+      "right:move_to(tissue,sanitizer), left:press(sanitizer_pump)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, tissue_box), left:no_ops": [
+        "right:grasp(tissue), left:move_to(none, sanitizer_bottle)"
+      ],
+      "right:grasp(tissue), left:move_to(none, sanitizer_bottle)": [
+        "right:pick_up(tissue), left:grasp(sanitizer_bottle)"
+      ],
+      "right:pick_up(tissue), left:grasp(sanitizer_bottle)": [
+        "right:move_to(tissue,sanitizer), left:press(sanitizer_pump)"
+      ],
+      "right:move_to(tissue,sanitizer), left:press(sanitizer_pump)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_press_alcohol_sanitizing_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_push_chair_episode_10",
+    "actions_list": [
+      "left:move_to(none,left_chair),right:move_to(none,right_chair)",
+      "left:grasp(left_chair),right:grasp(right_chair)",
+      "left:push(chair, table),right:push(chair,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_chair),right:move_to(none,right_chair)": [
+        "left:grasp(left_chair),right:grasp(right_chair)"
+      ],
+      "left:grasp(left_chair),right:grasp(right_chair)": [
+        "left:push(chair, table),right:push(chair,table)"
+      ],
+      "left:push(chair, table),right:push(chair,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_push_chair_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_push_chair_episode_15",
+    "actions_list": [
+      "left:move_to(none,left_chair),right:move_to(none,right_chair)",
+      "left:grasp(left_chair),right:grasp(right_chair)",
+      "left:push(chair, table),right:push(chair,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_chair),right:move_to(none,right_chair)": [
+        "left:grasp(left_chair),right:grasp(right_chair)"
+      ],
+      "left:grasp(left_chair),right:grasp(right_chair)": [
+        "left:push(chair, table),right:push(chair,table)"
+      ],
+      "left:push(chair, table),right:push(chair,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_push_chair_episode_15.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_push_container_back_to_chips_packaging_episode_10",
+    "actions_list": [
+      "left:move_to(none,green_chips_container), right:no_ops",
+      "left:grasp(green_chips_container), right:no_ops",
+      "left:pick_up(green_chips_container), right:move_to(plastic_chips_container)",
+      "left:no_ops, right:grasp(plastic_chips_container)",
+      "left:no_ops, right:push(plastic_chips_container,close)",
+      "left:place(chips_container, desk), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,green_chips_container), right:no_ops": [
+        "left:grasp(green_chips_container), right:no_ops"
+      ],
+      "left:grasp(green_chips_container), right:no_ops": [
+        "left:pick_up(green_chips_container), right:move_to(plastic_chips_container)"
+      ],
+      "left:pick_up(green_chips_container), right:move_to(plastic_chips_container)": [
+        "left:no_ops, right:grasp(plastic_chips_container)"
+      ],
+      "left:no_ops, right:grasp(plastic_chips_container)": [
+        "left:no_ops, right:push(plastic_chips_container,close)"
+      ],
+      "left:no_ops, right:push(plastic_chips_container,close)": [
+        "left:place(chips_container, desk), right:no_ops"
+      ],
+      "left:place(chips_container, desk), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_push_container_back_to_chips_packaging_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_3",
+    "actions_list": [
+      "right:move_to(none, backpack),  left:move_to(none, gray_cloth)",
+      "right:grasp(back_pack), left:grasp(gray_cloth)",
+      "right:turn(backpack,up,open),left:pick_up(gray_cloth)",
+      "right:no_ops,left:place(gray_cloth,inside_backpack)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, backpack),  left:move_to(none, gray_cloth)": [
+        "right:grasp(back_pack), left:grasp(gray_cloth)"
+      ],
+      "right:grasp(back_pack), left:grasp(gray_cloth)": [
+        "right:turn(backpack,up,open),left:pick_up(gray_cloth)"
+      ],
+      "right:turn(backpack,up,open),left:pick_up(gray_cloth)": [
+        "right:no_ops,left:place(gray_cloth,inside_backpack)"
+      ],
+      "right:no_ops,left:place(gray_cloth,inside_backpack)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_clothes_into_backpack_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_5",
+    "actions_list": [
+      "right:move_to(none, backpack), left:move_to(none, gray_cloth)",
+      "right:grasp(backpack), left:grasp(gray_cloth)",
+      "right:turn(backpack,up,open), left:pick_up(gray_cloth),",
+      "left:place(gray_cloth, inside_backpack), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, backpack), left:move_to(none, gray_cloth)": [
+        "right:grasp(backpack), left:grasp(gray_cloth)"
+      ],
+      "right:grasp(backpack), left:grasp(gray_cloth)": [
+        "right:turn(backpack,up,open), left:pick_up(gray_cloth),"
+      ],
+      "right:turn(backpack,up,open), left:pick_up(gray_cloth),": [
+        "left:place(gray_cloth, inside_backpack), right:no_ops"
+      ],
+      "left:place(gray_cloth, inside_backpack), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_clothes_into_backpack_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_7",
+    "actions_list": [
+      "right:move_to(none, backpack), left:move_to(none,gray_cloth)",
+      "right:grasp(backpack), left:grasp(gray_cloth)",
+      "right:turn(backpack,up,open), left:pick_up(gray_jacket)",
+      "right:no_ops, left:place(gray_cloth,inside_backpack)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, backpack), left:move_to(none,gray_cloth)": [
+        "right:grasp(backpack), left:grasp(gray_cloth)"
+      ],
+      "right:grasp(backpack), left:grasp(gray_cloth)": [
+        "right:turn(backpack,up,open), left:pick_up(gray_jacket)"
+      ],
+      "right:turn(backpack,up,open), left:pick_up(gray_jacket)": [
+        "right:no_ops, left:place(gray_cloth,inside_backpack)"
+      ],
+      "right:no_ops, left:place(gray_cloth,inside_backpack)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_clothes_into_backpack_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_8",
+    "actions_list": [
+      "right:move_to(none, backpack), left:move_to(none,gray_cloth)",
+      "right:grasp(backpack), left:grasp(gray_cloth)",
+      "right:turn(backpack,up,open), left:pick_up(gray_clothing)",
+      "left:place(gray_clothing, inside_backpack), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, backpack), left:move_to(none,gray_cloth)": [
+        "right:grasp(backpack), left:grasp(gray_cloth)"
+      ],
+      "right:grasp(backpack), left:grasp(gray_cloth)": [
+        "right:turn(backpack,up,open), left:pick_up(gray_clothing)"
+      ],
+      "right:turn(backpack,up,open), left:pick_up(gray_clothing)": [
+        "left:place(gray_clothing, inside_backpack), right:no_ops"
+      ],
+      "left:place(gray_clothing, inside_backpack), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_clothes_into_backpack_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_14",
+    "actions_list": [
+      "right:move_to(none, backpack), left:move_to(none,gray_cloth)",
+      "right:grasp(backpack), left:grasp,(gray_cloth)",
+      "right:turn(backpack,up,open), left:pick_up(gray_cloth)",
+      "right:no_ops, left:place(gray_cloth, inside_backpack)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, backpack), left:move_to(none,gray_cloth)": [
+        "right:grasp(backpack), left:grasp,(gray_cloth)"
+      ],
+      "right:grasp(backpack), left:grasp,(gray_cloth)": [
+        "right:turn(backpack,up,open), left:pick_up(gray_cloth)"
+      ],
+      "right:turn(backpack,up,open), left:pick_up(gray_cloth)": [
+        "right:no_ops, left:place(gray_cloth, inside_backpack)"
+      ],
+      "right:no_ops, left:place(gray_cloth, inside_backpack)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_clothes_into_backpack_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_mouse_on_pad_episode_11",
+    "actions_list": [
+      "left:move_to(none, mouse), right:no_ops",
+      "left:grasp(mouse), right:no_ops",
+      "left:pick_up(mouse), right:no_ops",
+      "left:move_to(mouse, right_table), right:no_ops",
+      "left:place(mouse, right_table), right:no_ops",
+      "left:no_ops, right:move_to(none,mouse)",
+      "left:no_ops, right:grasp(mouse)",
+      "left:no_ops, right:grasp(mouse)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, mouse), right:no_ops": [
+        "left:grasp(mouse), right:no_ops"
+      ],
+      "left:grasp(mouse), right:no_ops": [
+        "left:pick_up(mouse), right:no_ops"
+      ],
+      "left:pick_up(mouse), right:no_ops": [
+        "left:move_to(mouse, right_table), right:no_ops"
+      ],
+      "left:move_to(mouse, right_table), right:no_ops": [
+        "left:place(mouse, right_table), right:no_ops"
+      ],
+      "left:place(mouse, right_table), right:no_ops": [],
+      "left:no_ops, right:move_to(none,mouse)": [],
+      "left:no_ops, right:grasp(mouse)": [],
+      "left:no_ops, right:grasp(mouse)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_mouse_on_pad_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_object_into_cabinet_episode_2",
+    "actions_list": [
+      "left:move_to(none, cabinet_handle), right:move_to(none, beverage_can)",
+      "left:grasp(cabinet_handle), right:grasp(beverage_can)",
+      "left:pull(cabinet_door,open), right:pick_up(beverage_can)",
+      "left:no_ops, right:place(beverage_can,cabinet)",
+      "left:grasp(cabint_handle), right:no_ops",
+      "left:push(cabint_handle,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, cabinet_handle), right:move_to(none, beverage_can)": [
+        "left:grasp(cabinet_handle), right:grasp(beverage_can)"
+      ],
+      "left:grasp(cabinet_handle), right:grasp(beverage_can)": [
+        "left:pull(cabinet_door,open), right:pick_up(beverage_can)"
+      ],
+      "left:pull(cabinet_door,open), right:pick_up(beverage_can)": [
+        "left:no_ops, right:place(beverage_can,cabinet)"
+      ],
+      "left:no_ops, right:place(beverage_can,cabinet)": [
+        "left:grasp(cabint_handle), right:no_ops"
+      ],
+      "left:grasp(cabint_handle), right:no_ops": [
+        "left:push(cabint_handle,close), right:no_ops"
+      ],
+      "left:push(cabint_handle,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_object_into_cabinet_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_object_into_cabinet_episode_8",
+    "actions_list": [
+      "left:move_to(none, cabinet_handle), right:move_to(none,beverage can)",
+      "left:grasp(cabint_handle), right:grasp(beverage_can)",
+      "left:pull(cabint_handle,open), right:pick_up(beverage_can)",
+      "left:no_ops, right:place(beverage_can,inside_cabinet)",
+      "left:grasp(cabinet), right:no_ops",
+      "left:push(cabinet,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, cabinet_handle), right:move_to(none,beverage can)": [
+        "left:grasp(cabint_handle), right:grasp(beverage_can)"
+      ],
+      "left:grasp(cabint_handle), right:grasp(beverage_can)": [
+        "left:pull(cabint_handle,open), right:pick_up(beverage_can)"
+      ],
+      "left:pull(cabint_handle,open), right:pick_up(beverage_can)": [
+        "left:no_ops, right:place(beverage_can,inside_cabinet)"
+      ],
+      "left:no_ops, right:place(beverage_can,inside_cabinet)": [
+        "left:grasp(cabinet), right:no_ops"
+      ],
+      "left:grasp(cabinet), right:no_ops": [
+        "left:push(cabinet,close), right:no_ops"
+      ],
+      "left:push(cabinet,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_object_into_cabinet_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_object_into_cabinet_episode_12",
+    "actions_list": [
+      "left:move_to(cabinet_handle), right:move_to(beverage_can)",
+      "left:grasp(cabinet_handle), right:grasp(beverage_can)",
+      "left:pull(cabinet,open), right:pick_up(beverage_can)",
+      "left:no_ops, right:place(beverage_can,inside_cabinet)",
+      "left:grasp(cabinet_handle), right:no_ops",
+      "left:push(cabinet,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(cabinet_handle), right:move_to(beverage_can)": [
+        "left:grasp(cabinet_handle), right:grasp(beverage_can)"
+      ],
+      "left:grasp(cabinet_handle), right:grasp(beverage_can)": [
+        "left:pull(cabinet,open), right:pick_up(beverage_can)"
+      ],
+      "left:pull(cabinet,open), right:pick_up(beverage_can)": [
+        "left:no_ops, right:place(beverage_can,inside_cabinet)"
+      ],
+      "left:no_ops, right:place(beverage_can,inside_cabinet)": [
+        "left:grasp(cabinet_handle), right:no_ops"
+      ],
+      "left:grasp(cabinet_handle), right:no_ops": [
+        "left:push(cabinet,close), right:no_ops"
+      ],
+      "left:push(cabinet,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_object_into_cabinet_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_8",
+    "actions_list": [
+      "right:move_to(none, microwave_door), left:no_ops",
+      "right:grasp(microwave_door), left:no_ops",
+      "right:pull(microwave_door,open), left:no_ops",
+      "right:move_to(none,snack_box), left:no_ops",
+      "right:grasp(snack_box), left:no_ops",
+      "right:pick_up(snack_box), left:no_ops",
+      "right:place(snack_box, inside_microwave), left:no_ops",
+      "right:no_ops, left:move_to(none,microwave_door)",
+      "right:no_ops, left:grasp(microwave_door)",
+      "right:no_ops, left:push(microwave_door,close)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, microwave_door), left:no_ops": [
+        "right:grasp(microwave_door), left:no_ops"
+      ],
+      "right:grasp(microwave_door), left:no_ops": [
+        "right:pull(microwave_door,open), left:no_ops"
+      ],
+      "right:pull(microwave_door,open), left:no_ops": [
+        "right:move_to(none,snack_box), left:no_ops"
+      ],
+      "right:move_to(none,snack_box), left:no_ops": [
+        "right:grasp(snack_box), left:no_ops"
+      ],
+      "right:grasp(snack_box), left:no_ops": [
+        "right:pick_up(snack_box), left:no_ops"
+      ],
+      "right:pick_up(snack_box), left:no_ops": [
+        "right:place(snack_box, inside_microwave), left:no_ops"
+      ],
+      "right:place(snack_box, inside_microwave), left:no_ops": [
+        "right:no_ops, left:move_to(none,microwave_door)"
+      ],
+      "right:no_ops, left:move_to(none,microwave_door)": [
+        "right:no_ops, left:grasp(microwave_door)"
+      ],
+      "right:no_ops, left:grasp(microwave_door)": [
+        "right:no_ops, left:push(microwave_door,close)"
+      ],
+      "right:no_ops, left:push(microwave_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_snack_into_microwave_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_19",
+    "actions_list": [
+      "right:move_to(none, microwave_door), left:no_ops",
+      "right:grasp(microwave_door), left:no_ops",
+      "right:pull(smicrowave_door,open), left:no_ops",
+      "right:move_to(none,snack_box), left:no_ops",
+      "right:grasp(snack_box), left:no_ops",
+      "right:pick_up(snack_box), left:no_ops",
+      "right:place(snack_box, inside_microwave), left:no_ops",
+      "right:no_ops, left:move_to(microwave_door)",
+      "right:no_ops, left:grasp(microwave_door)",
+      "right:no_ops, left:push(microwave_door,close)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, microwave_door), left:no_ops": [
+        "right:grasp(microwave_door), left:no_ops"
+      ],
+      "right:grasp(microwave_door), left:no_ops": [
+        "right:pull(smicrowave_door,open), left:no_ops"
+      ],
+      "right:pull(smicrowave_door,open), left:no_ops": [
+        "right:move_to(none,snack_box), left:no_ops"
+      ],
+      "right:move_to(none,snack_box), left:no_ops": [
+        "right:grasp(snack_box), left:no_ops"
+      ],
+      "right:grasp(snack_box), left:no_ops": [
+        "right:pick_up(snack_box), left:no_ops"
+      ],
+      "right:pick_up(snack_box), left:no_ops": [
+        "right:place(snack_box, inside_microwave), left:no_ops"
+      ],
+      "right:place(snack_box, inside_microwave), left:no_ops": [
+        "right:no_ops, left:move_to(microwave_door)"
+      ],
+      "right:no_ops, left:move_to(microwave_door)": [
+        "right:no_ops, left:grasp(microwave_door)"
+      ],
+      "right:no_ops, left:grasp(microwave_door)": [
+        "right:no_ops, left:push(microwave_door,close)"
+      ],
+      "right:no_ops, left:push(microwave_door,close)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_snack_into_microwave_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_spitballs_in_carton_2_episode_4",
+    "actions_list": [
+      "left:move_to(none, left_paper_ball), right:move_to(none, right_paper_ball)",
+      "left:grasp(left_paper_ball), right:grasp(right_paper_ball)",
+      "left:pick_up(left_paper_ball), right:pick_up(right_paper_ball)",
+      "left:place(left_paper_ball, box), right:place(right_paper_ball, box)",
+      "left:no_ops, right:move_to(paper_ball, box)",
+      "left:no_ops, right:grasp(paper_ball)",
+      "left:no_ops, right:pick_up(paper_ball)",
+      "left:no_ops, right:palce(paper_ball,box)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_paper_ball), right:move_to(none, right_paper_ball)": [
+        "left:grasp(left_paper_ball), right:grasp(right_paper_ball)"
+      ],
+      "left:grasp(left_paper_ball), right:grasp(right_paper_ball)": [
+        "left:pick_up(left_paper_ball), right:pick_up(right_paper_ball)"
+      ],
+      "left:pick_up(left_paper_ball), right:pick_up(right_paper_ball)": [
+        "left:place(left_paper_ball, box), right:place(right_paper_ball, box)"
+      ],
+      "left:place(left_paper_ball, box), right:place(right_paper_ball, box)": [],
+      "left:no_ops, right:move_to(paper_ball, box)": [
+        "left:no_ops, right:grasp(paper_ball)"
+      ],
+      "left:no_ops, right:grasp(paper_ball)": [
+        "left:no_ops, right:pick_up(paper_ball)"
+      ],
+      "left:no_ops, right:pick_up(paper_ball)": [
+        "left:no_ops, right:palce(paper_ball,box)"
+      ],
+      "left:no_ops, right:palce(paper_ball,box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_spitballs_in_carton_2_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_spitballs_in_carton_2_episode_37",
+    "actions_list": [
+      "left:move_to(none,left_paper_ball), right:move_to(none,right_paper_ball)",
+      "left:grasp(left_paper_ball), right:grasp(right_paper_ball)",
+      "left:pick_up(left_paper_ball), right:pcik_up(right_paper_ball)",
+      "left:place(left_paper_ball, box), right:place(right_paper_ball)",
+      "left:no_ops, right:move_to(none,paper_ball)",
+      "left:no_ops, right:grasp(paper_ball)",
+      "left:no_ops, right:pick_up(paper_ball)",
+      "left:no_ops, right:place(paper_ball, box)",
+      "left:no_ops, right:move_to(none, paper_ball)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_paper_ball), right:move_to(none,right_paper_ball)": [
+        "left:grasp(left_paper_ball), right:grasp(right_paper_ball)"
+      ],
+      "left:grasp(left_paper_ball), right:grasp(right_paper_ball)": [
+        "left:pick_up(left_paper_ball), right:pcik_up(right_paper_ball)"
+      ],
+      "left:pick_up(left_paper_ball), right:pcik_up(right_paper_ball)": [
+        "left:place(left_paper_ball, box), right:place(right_paper_ball)"
+      ],
+      "left:place(left_paper_ball, box), right:place(right_paper_ball)": [],
+      "left:no_ops, right:move_to(none,paper_ball)": [
+        "left:no_ops, right:grasp(paper_ball)"
+      ],
+      "left:no_ops, right:grasp(paper_ball)": [
+        "left:no_ops, right:pick_up(paper_ball)"
+      ],
+      "left:no_ops, right:pick_up(paper_ball)": [
+        "left:no_ops, right:place(paper_ball, box)"
+      ],
+      "left:no_ops, right:place(paper_ball, box)": [
+        "left:no_ops, right:move_to(none, paper_ball)"
+      ],
+      "left:no_ops, right:move_to(none, paper_ball)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_spitballs_in_carton_2_episode_37.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_spitballs_in_carton_episode_2",
+    "actions_list": [
+      "left:move_to(none,left_paper_ball), right:move_to(none,right_paper_ball)",
+      "left:grasp(left_paper_ball), right:grasp(right_paper_ball)",
+      "left:pick_up(left_paper_ball), right:pick_up(right_paper_ball)",
+      "left:place(left_paper_ball, box), right:place(right_paper_ball, box)",
+      "left:no_ops, right:move_to(none,paper_ball)",
+      "left:no_ops, right:grasp(paper_ball)",
+      "left:no_ops, right:pick_up(paper_ball)",
+      "left:no_ops, right:move_to(none, box)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_paper_ball), right:move_to(none,right_paper_ball)": [
+        "left:grasp(left_paper_ball), right:grasp(right_paper_ball)"
+      ],
+      "left:grasp(left_paper_ball), right:grasp(right_paper_ball)": [
+        "left:pick_up(left_paper_ball), right:pick_up(right_paper_ball)"
+      ],
+      "left:pick_up(left_paper_ball), right:pick_up(right_paper_ball)": [
+        "left:place(left_paper_ball, box), right:place(right_paper_ball, box)"
+      ],
+      "left:place(left_paper_ball, box), right:place(right_paper_ball, box)": [],
+      "left:no_ops, right:move_to(none,paper_ball)": [
+        "left:no_ops, right:grasp(paper_ball)"
+      ],
+      "left:no_ops, right:grasp(paper_ball)": [
+        "left:no_ops, right:pick_up(paper_ball)"
+      ],
+      "left:no_ops, right:pick_up(paper_ball)": [
+        "left:no_ops, right:move_to(none, box)"
+      ],
+      "left:no_ops, right:move_to(none, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_spitballs_in_carton_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_sponge_into_drawer_episode_6",
+    "actions_list": [
+      "left:move_to(none, sponge), right:move_to(none,drawer)",
+      "left:grasp(sponge), right:grasp(drawer_handle)",
+      "left:pick_up(sponge), right:pull(drawer_handle,open)",
+      "left:place(sponge, open_drawer), right:no_ops",
+      "left:no_ops, right:move_to(none,drawer_handle)",
+      "left:no_ops, right:grasp(drawer_handle)",
+      "left:no_ops, right:push(drawer_handle,close)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, sponge), right:move_to(none,drawer)": [
+        "left:grasp(sponge), right:grasp(drawer_handle)"
+      ],
+      "left:grasp(sponge), right:grasp(drawer_handle)": [
+        "left:pick_up(sponge), right:pull(drawer_handle,open)"
+      ],
+      "left:pick_up(sponge), right:pull(drawer_handle,open)": [
+        "left:place(sponge, open_drawer), right:no_ops"
+      ],
+      "left:place(sponge, open_drawer), right:no_ops": [
+        "left:no_ops, right:move_to(none,drawer_handle)"
+      ],
+      "left:no_ops, right:move_to(none,drawer_handle)": [
+        "left:no_ops, right:grasp(drawer_handle)"
+      ],
+      "left:no_ops, right:grasp(drawer_handle)": [
+        "left:no_ops, right:push(drawer_handle,close)"
+      ],
+      "left:no_ops, right:push(drawer_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_sponge_into_drawer_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_sponge_into_drawer_episode_11",
+    "actions_list": [
+      "left:move_to(none, sponge), right:move_to(none,drawer_handle)",
+      "left:grasp(sponge), right:grasp(drawer_handle)",
+      "left:pick_up(sponge), right:pull(drawer_handle,open)",
+      "left:place(sponge, open_drawer), right:no_ops",
+      "left:no_ops, right:move_to(none, drawer_handle)",
+      "left:no_ops, right:grasp(drawer_handle)",
+      "left:no_ops, right:push(drawer_handle,close)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, sponge), right:move_to(none,drawer_handle)": [
+        "left:grasp(sponge), right:grasp(drawer_handle)"
+      ],
+      "left:grasp(sponge), right:grasp(drawer_handle)": [
+        "left:pick_up(sponge), right:pull(drawer_handle,open)"
+      ],
+      "left:pick_up(sponge), right:pull(drawer_handle,open)": [
+        "left:place(sponge, open_drawer), right:no_ops"
+      ],
+      "left:place(sponge, open_drawer), right:no_ops": [
+        "left:no_ops, right:move_to(none, drawer_handle)"
+      ],
+      "left:no_ops, right:move_to(none, drawer_handle)": [
+        "left:no_ops, right:grasp(drawer_handle)"
+      ],
+      "left:no_ops, right:grasp(drawer_handle)": [
+        "left:no_ops, right:push(drawer_handle,close)"
+      ],
+      "left:no_ops, right:push(drawer_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_sponge_into_drawer_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_sponge_into_drawer_episode_13",
+    "actions_list": [
+      "left:move_to(none, sponge), right:move_to(none,drawer_handle)",
+      "left:grasp(sponge), right:grasp(drawer_handle)",
+      "left:pick_up(sponge), right:pull(drawer_handle,open)",
+      "left:place(sponge, open_drawer), right:no_ops",
+      "left:no_ops, right:move_to(none, drawer)",
+      "left:no_ops, right:grasp(drawer_handle)",
+      "left:no_ops, right:push(drawer_handle,close)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, sponge), right:move_to(none,drawer_handle)": [
+        "left:grasp(sponge), right:grasp(drawer_handle)"
+      ],
+      "left:grasp(sponge), right:grasp(drawer_handle)": [
+        "left:pick_up(sponge), right:pull(drawer_handle,open)"
+      ],
+      "left:pick_up(sponge), right:pull(drawer_handle,open)": [
+        "left:place(sponge, open_drawer), right:no_ops"
+      ],
+      "left:place(sponge, open_drawer), right:no_ops": [
+        "left:no_ops, right:move_to(none, drawer)"
+      ],
+      "left:no_ops, right:move_to(none, drawer)": [
+        "left:no_ops, right:grasp(drawer_handle)"
+      ],
+      "left:no_ops, right:grasp(drawer_handle)": [
+        "left:no_ops, right:push(drawer_handle,close)"
+      ],
+      "left:no_ops, right:push(drawer_handle,close)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_put_sponge_into_drawer_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_redirect_magiccube_episode_18",
+    "actions_list": [
+      "left:move_to(none, rubik's_cube), right:move_to(none, rubik's_cube)",
+      "left:grasp(rubik's_cube), right:grasp(rubik's_cube)",
+      "left:turn(rubik's_cube, clockwise,90_degrees), right:turn(rubik's_cube, clockwise,90_degrees)",
+      "left:grasp(rubik's_cube), right:grasp(rubik's_cube)",
+      "left:turn(rubik's_cube, clockwise,90_degrees), right:turn(rubik's_cube, clockwise,90_degrees)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, rubik's_cube), right:move_to(none, rubik's_cube)": [
+        "left:grasp(rubik's_cube), right:grasp(rubik's_cube)"
+      ],
+      "left:grasp(rubik's_cube), right:grasp(rubik's_cube)": [
+        "left:turn(rubik's_cube, clockwise,90_degrees), right:turn(rubik's_cube, clockwise,90_degrees)"
+      ],
+      "left:turn(rubik's_cube, clockwise,90_degrees), right:turn(rubik's_cube, clockwise,90_degrees)": [
+        "left:grasp(rubik's_cube), right:grasp(rubik's_cube)<1>"
+      ],
+      "left:grasp(rubik's_cube), right:grasp(rubik's_cube)<1>": [
+        "left:turn(rubik's_cube, clockwise,90_degrees), right:turn(rubik's_cube, clockwise,90_degrees)<1>"
+      ],
+      "left:turn(rubik's_cube, clockwise,90_degrees), right:turn(rubik's_cube, clockwise,90_degrees)<1>": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_redirect_magiccube_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_backward_episode_5",
+    "actions_list": [
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_backward_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_backward_episode_7",
+    "actions_list": [
+      "left:move_to(none, left_joystick), right:move_to(none,right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_joystick), right:move_to(none,right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_backward_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_backward_episode_14",
+    "actions_list": [
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_backward_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_3",
+    "actions_list": [
+      "left:move_to(none, left_joystick), right:move_to(none, right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_joystick), right:move_to(none, right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_forward_2_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_6",
+    "actions_list": [
+      "left:move_to(none, left_joystick), right:move_to(none, right_joystick)",
+      "left:grasp(left_joystick), right:grasp(joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_joystick), right:move_to(none, right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_forward_2_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_15",
+    "actions_list": [
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)",
+      "left:grasp(left_joystick), right:grasp(joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_forward_2_episode_15.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_16",
+    "actions_list": [
+      "left:move_to(none, left_joystick), right:move_to(none,right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_joystick), right:move_to(none,right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_forward_2_episode_16.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_19",
+    "actions_list": [
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_forward_2_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_30",
+    "actions_list": [
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_forward_2_episode_30.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_37",
+    "actions_list": [
+      "left:move_to(none, left_joystick), right:move_to(none, right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_joystick), right:move_to(none, right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_forward_2_episode_37.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_49",
+    "actions_list": [
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_forward_2_episode_49.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_episode_11",
+    "actions_list": [
+      "left:move_to(none, left_joystick), right:move_to(none, right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_joystick), right:move_to(none, right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_forward_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_episode_18",
+    "actions_list": [
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)",
+      "left:grasp(left_joystick), right:grasp(right_joystick)",
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_joystick), right:move_to(none,right_joystick)": [
+        "left:grasp(left_joystick), right:grasp(right_joystick)"
+      ],
+      "left:grasp(left_joystick), right:grasp(right_joystick)": [
+        "left:turn(left_joystick,forward,none), right:press(right_joystick)"
+      ],
+      "left:turn(left_joystick,forward,none), right:press(right_joystick)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_robot_dog_forward_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_2",
+    "actions_list": [
+      "right:move_to(none, backpack), left:no_ops",
+      "left:move_to(none, gray_clothing), right:grasp(backpack)",
+      "left:grasp(gray_clothes), right:pull(backpack,up)",
+      "left:pick_up(gray_clothes), right:no_ops",
+      "left:place(gray_clothes,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, backpack), left:no_ops": [
+        "left:move_to(none, gray_clothing), right:grasp(backpack)"
+      ],
+      "left:move_to(none, gray_clothing), right:grasp(backpack)": [
+        "left:grasp(gray_clothes), right:pull(backpack,up)"
+      ],
+      "left:grasp(gray_clothes), right:pull(backpack,up)": [
+        "left:pick_up(gray_clothes), right:no_ops"
+      ],
+      "left:pick_up(gray_clothes), right:no_ops": [
+        "left:place(gray_clothes,table), right:no_ops"
+      ],
+      "left:place(gray_clothes,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_clothes_into_backpack_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_3",
+    "actions_list": [
+      "right:move_to(none, backpack), left:no_ops",
+      "left:move_to(none, gray_clothing), right:grasp(backpack)",
+      "left:grasp(gray_clothes), right:pull(backpack,up)",
+      "left:pick_up(gray_clothes), right:no_ops",
+      "left:place(gray_clothes,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, backpack), left:no_ops": [
+        "left:move_to(none, gray_clothing), right:grasp(backpack)"
+      ],
+      "left:move_to(none, gray_clothing), right:grasp(backpack)": [
+        "left:grasp(gray_clothes), right:pull(backpack,up)"
+      ],
+      "left:grasp(gray_clothes), right:pull(backpack,up)": [
+        "left:pick_up(gray_clothes), right:no_ops"
+      ],
+      "left:pick_up(gray_clothes), right:no_ops": [
+        "left:place(gray_clothes,table), right:no_ops"
+      ],
+      "left:place(gray_clothes,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_clothes_into_backpack_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_6",
+    "actions_list": [
+      "right:move_to(none, backpack), left:no_ops",
+      "left:move_to(none, gray_clothing), right:grasp(backpack)",
+      "left:grasp(gray_clothes), right:pull(backpack,up)",
+      "left:pick_up(gray_clothe), right:no_ops",
+      "left:place(gray_clothes, table), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, backpack), left:no_ops": [
+        "left:move_to(none, gray_clothing), right:grasp(backpack)"
+      ],
+      "left:move_to(none, gray_clothing), right:grasp(backpack)": [
+        "left:grasp(gray_clothes), right:pull(backpack,up)"
+      ],
+      "left:grasp(gray_clothes), right:pull(backpack,up)": [
+        "left:pick_up(gray_clothe), right:no_ops"
+      ],
+      "left:pick_up(gray_clothe), right:no_ops": [
+        "left:place(gray_clothes, table), right:no_ops"
+      ],
+      "left:place(gray_clothes, table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_clothes_into_backpack_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_8",
+    "actions_list": [
+      "right:move_to(none, backpack), left:no_ops",
+      "left:move_to(none, gray_cloth), right:grasp(backpack)",
+      "left:pick_up(gray_clothes), right:pull(backpack,up)",
+      "left:palce(gray_clothes, table), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, backpack), left:no_ops": [
+        "left:move_to(none, gray_cloth), right:grasp(backpack)"
+      ],
+      "left:move_to(none, gray_cloth), right:grasp(backpack)": [
+        "left:pick_up(gray_clothes), right:pull(backpack,up)"
+      ],
+      "left:pick_up(gray_clothes), right:pull(backpack,up)": [
+        "left:palce(gray_clothes, table), right:no_ops"
+      ],
+      "left:palce(gray_clothes, table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_clothes_into_backpack_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_10",
+    "actions_list": [
+      "right:move_to(none, backpack), left:no_ops",
+      "left:move_to(none, gray_clothing), right:grasp(backpack)",
+      "left:grasp(gray_clothes), right:pull(backpack,up)",
+      "left:palce(gray_clothes, table), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, backpack), left:no_ops": [
+        "left:move_to(none, gray_clothing), right:grasp(backpack)"
+      ],
+      "left:move_to(none, gray_clothing), right:grasp(backpack)": [
+        "left:grasp(gray_clothes), right:pull(backpack,up)"
+      ],
+      "left:grasp(gray_clothes), right:pull(backpack,up)": [
+        "left:palce(gray_clothes, table), right:no_ops"
+      ],
+      "left:palce(gray_clothes, table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_clothes_into_backpack_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_off_lid_of_ice_box_episode_1",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, tray)",
+      "left:no_ops, right:grasp(tray)",
+      "left:no_ops, right:pick_up(tray)",
+      "transfer(right, left, tray)",
+      "left:no_ops, right:grasp(tray_lid)",
+      "left:no_ops, right:pick_up(tray_lid)",
+      "left:place(tray,table), right:place(tray_lid,table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, tray)": [
+        "left:no_ops, right:grasp(tray)"
+      ],
+      "left:no_ops, right:grasp(tray)": [
+        "left:no_ops, right:pick_up(tray)"
+      ],
+      "left:no_ops, right:pick_up(tray)": [
+        "transfer(right, left, tray)"
+      ],
+      "transfer(right, left, tray)": [
+        "left:no_ops, right:grasp(tray_lid)"
+      ],
+      "left:no_ops, right:grasp(tray_lid)": [
+        "left:no_ops, right:pick_up(tray_lid)"
+      ],
+      "left:no_ops, right:pick_up(tray_lid)": [
+        "left:place(tray,table), right:place(tray_lid,table)"
+      ],
+      "left:place(tray,table), right:place(tray_lid,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_off_lid_of_ice_box_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_off_lid_of_ice_box_episode_8",
+    "actions_list": [
+      "right:move_to(none, tray), left:no_ops",
+      "right:grasp(tray), left:no_ops",
+      "right:pick_up(tray), left:no_ops",
+      "transfer(right, left, tray)",
+      "left:no_ops, right:grasp(lid)",
+      "left:no_ops, right:pick_up(lid)",
+      "left:no_ops, right:place(lid, table)"
+    ],
+    "gt_dag": {
+      "right:move_to(none, tray), left:no_ops": [
+        "right:grasp(tray), left:no_ops"
+      ],
+      "right:grasp(tray), left:no_ops": [
+        "right:pick_up(tray), left:no_ops"
+      ],
+      "right:pick_up(tray), left:no_ops": [
+        "transfer(right, left, tray)"
+      ],
+      "transfer(right, left, tray)": [
+        "left:no_ops, right:grasp(lid)"
+      ],
+      "left:no_ops, right:grasp(lid)": [
+        "left:no_ops, right:pick_up(lid)"
+      ],
+      "left:no_ops, right:pick_up(lid)": [
+        "left:no_ops, right:place(lid, table)"
+      ],
+      "left:no_ops, right:place(lid, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_off_lid_of_ice_box_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_chips_from_packaging_episode_13",
+    "actions_list": [
+      "left:move_to(none,chips_container), right:no_ops",
+      "left:grasp(chips_container), right:move_to(none, transparent_container)",
+      "left:pick_up(chips_container), right:grasp(transparent_container)",
+      "left:no_ops,right:push(transparent_container,close)",
+      "left:place(chips_container, desk), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,chips_container), right:no_ops": [
+        "left:grasp(chips_container), right:move_to(none, transparent_container)"
+      ],
+      "left:grasp(chips_container), right:move_to(none, transparent_container)": [
+        "left:pick_up(chips_container), right:grasp(transparent_container)"
+      ],
+      "left:pick_up(chips_container), right:grasp(transparent_container)": [
+        "left:no_ops,right:push(transparent_container,close)"
+      ],
+      "left:no_ops,right:push(transparent_container,close)": [
+        "left:place(chips_container, desk), right:no_ops"
+      ],
+      "left:place(chips_container, desk), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_out_chips_from_packaging_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_19",
+    "actions_list": [
+      "left:move_to(none, bag), right:no_ops",
+      "left:grasp(bag), right:move_to(bag)",
+      "right:grasp(glasses_case), left:pick_up(bag)",
+      "right:pick_up(glasses_case), left:no_ops",
+      "right:place(glasses_case, table), left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, bag), right:no_ops": [
+        "left:grasp(bag), right:move_to(bag)"
+      ],
+      "left:grasp(bag), right:move_to(bag)": [
+        "right:grasp(glasses_case), left:pick_up(bag)"
+      ],
+      "right:grasp(glasses_case), left:pick_up(bag)": [
+        "right:pick_up(glasses_case), left:no_ops"
+      ],
+      "right:pick_up(glasses_case), left:no_ops": [
+        "right:place(glasses_case, table), left:no_ops"
+      ],
+      "right:place(glasses_case, table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_spary_lid_episode_14",
+    "actions_list": [
+      "left:move_to(none, spray_bottle), right:no_ops",
+      "left:grasp(spray_bottle), right:move_to(none, lid)",
+      "left:pick_up(spray_bottle), right:grasp(bottle_lid)",
+      "left:no_ops, right:pick_up(lid)",
+      "left:place(spray_bottle, table), right:place(lid, table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, spray_bottle), right:no_ops": [
+        "left:grasp(spray_bottle), right:move_to(none, lid)"
+      ],
+      "left:grasp(spray_bottle), right:move_to(none, lid)": [
+        "left:pick_up(spray_bottle), right:grasp(bottle_lid)"
+      ],
+      "left:pick_up(spray_bottle), right:grasp(bottle_lid)": [
+        "left:no_ops, right:pick_up(lid)"
+      ],
+      "left:no_ops, right:pick_up(lid)": [
+        "left:place(spray_bottle, table), right:place(lid, table)"
+      ],
+      "left:place(spray_bottle, table), right:place(lid, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_out_spary_lid_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_tissue_episode_7",
+    "actions_list": [
+      "left:move_to(none, tissue_packet), right:no_ops",
+      "left:grasp(tissue_packet), right:move_to(none,tissue)",
+      "left:pick_up(tissue_packet), right:grasp(tissue)",
+      "left:no_ops, right:pick_up(tissue)",
+      "left:place(tissue_packet, table), right:place(tissue, table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, tissue_packet), right:no_ops": [
+        "left:grasp(tissue_packet), right:move_to(none,tissue)"
+      ],
+      "left:grasp(tissue_packet), right:move_to(none,tissue)": [
+        "left:pick_up(tissue_packet), right:grasp(tissue)"
+      ],
+      "left:pick_up(tissue_packet), right:grasp(tissue)": [
+        "left:no_ops, right:pick_up(tissue)"
+      ],
+      "left:no_ops, right:pick_up(tissue)": [
+        "left:place(tissue_packet, table), right:place(tissue, table)"
+      ],
+      "left:place(tissue_packet, table), right:place(tissue, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_out_tissue_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_tissue_episode_10",
+    "actions_list": [
+      "left:move_to(none, tissue_packet), right:no_ops",
+      "left:grasp(tissue_packet), right:move_to(none,tissue)",
+      "left:pick_up(tissue_packet), right:grasp(tissue)",
+      "left:no_ops, right:pick_up(tissue)",
+      "left:place(tissue_packet, table), right:place(tissue, table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, tissue_packet), right:no_ops": [
+        "left:grasp(tissue_packet), right:move_to(none,tissue)"
+      ],
+      "left:grasp(tissue_packet), right:move_to(none,tissue)": [
+        "left:pick_up(tissue_packet), right:grasp(tissue)"
+      ],
+      "left:pick_up(tissue_packet), right:grasp(tissue)": [
+        "left:no_ops, right:pick_up(tissue)"
+      ],
+      "left:no_ops, right:pick_up(tissue)": [
+        "left:place(tissue_packet, table), right:place(tissue, table)"
+      ],
+      "left:place(tissue_packet, table), right:place(tissue, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_out_tissue_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_tissue_episode_17",
+    "actions_list": [
+      "left:move_to(none, tissue_packet), right:no_ops",
+      "left:grasp(tissue_packet), right:move_to(none,tissue)",
+      "left:pick_up(tissue_packet), right:grasp(tissue)",
+      "left:hold(tissue), right:pick_up(tissue)",
+      "left:place(tissue_packet, table), right:place(tissue, table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, tissue_packet), right:no_ops": [
+        "left:grasp(tissue_packet), right:move_to(none,tissue)"
+      ],
+      "left:grasp(tissue_packet), right:move_to(none,tissue)": [
+        "left:pick_up(tissue_packet), right:grasp(tissue)"
+      ],
+      "left:pick_up(tissue_packet), right:grasp(tissue)": [
+        "left:hold(tissue), right:pick_up(tissue)"
+      ],
+      "left:hold(tissue), right:pick_up(tissue)": [
+        "left:place(tissue_packet, table), right:place(tissue, table)"
+      ],
+      "left:place(tissue_packet, table), right:place(tissue, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_take_out_tissue_episode_17.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_takeout_insert_usb_episode_1",
+    "actions_list": [
+      "left:move_to(none, the_right_device), right:move_to(none, the_right_device)",
+      "left:grasp(the_right_device), right:grasp(usb_drive)",
+      "left:press(the_right_device), right:pick_up(usb_drive)",
+      "left:no_ops, right:move_to(usb_drive, the_left_device)",
+      "left:no_ops, right:insert(usb_drive, the_left_device)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_right_device), right:move_to(none, the_right_device)": [
+        "left:grasp(the_right_device), right:grasp(usb_drive)"
+      ],
+      "left:grasp(the_right_device), right:grasp(usb_drive)": [
+        "left:press(the_right_device), right:pick_up(usb_drive)"
+      ],
+      "left:press(the_right_device), right:pick_up(usb_drive)": [
+        "left:no_ops, right:move_to(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:move_to(usb_drive, the_left_device)": [
+        "left:no_ops, right:insert(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:insert(usb_drive, the_left_device)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_takeout_insert_usb_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_takeout_insert_usb_episode_10",
+    "actions_list": [
+      "left:move_to(none, the_right_device), right:move_to(none, the_right_device)",
+      "left:grasp(the_right_device), right:grasp(usb_drive)",
+      "left:press(the_right_device), right:pick_up(usb_drive)",
+      "left:no_ops, right:move_to(usb_drive, the_left_device)",
+      "left:no_ops, right:insert(usb_drive, the_left_device)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_right_device), right:move_to(none, the_right_device)": [
+        "left:grasp(the_right_device), right:grasp(usb_drive)"
+      ],
+      "left:grasp(the_right_device), right:grasp(usb_drive)": [
+        "left:press(the_right_device), right:pick_up(usb_drive)"
+      ],
+      "left:press(the_right_device), right:pick_up(usb_drive)": [
+        "left:no_ops, right:move_to(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:move_to(usb_drive, the_left_device)": [
+        "left:no_ops, right:insert(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:insert(usb_drive, the_left_device)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_takeout_insert_usb_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_takeout_insert_usb_episode_11",
+    "actions_list": [
+      "left:move_to(none, the_right_device), right:move_to(none, the_right_device)",
+      "left:grasp(the_right_device), right:grasp(usb_drive)",
+      "left:press(the_right_device), right:pick_up(usb_drive)",
+      "left:no_ops, right:move_to(usb_drive, the_left_device)",
+      "left:no_ops, right:insert(usb_drive, the_left_device)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_right_device), right:move_to(none, the_right_device)": [
+        "left:grasp(the_right_device), right:grasp(usb_drive)"
+      ],
+      "left:grasp(the_right_device), right:grasp(usb_drive)": [
+        "left:press(the_right_device), right:pick_up(usb_drive)"
+      ],
+      "left:press(the_right_device), right:pick_up(usb_drive)": [
+        "left:no_ops, right:move_to(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:move_to(usb_drive, the_left_device)": [
+        "left:no_ops, right:insert(usb_drive, the_left_device)"
+      ],
+      "left:no_ops, right:insert(usb_drive, the_left_device)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_takeout_insert_usb_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tape_on_second_layer_episode_0",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, tape), right:no_ops",
+      "left:grasp(tape), right:no_ops",
+      "left:pick_up(tape), right:no_ops",
+      "left:place(tape, open_drawer), right:no_ops",
+      "left:grasp(the_second_drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, tape), right:no_ops"
+      ],
+      "left:move_to(none, tape), right:no_ops": [
+        "left:grasp(tape), right:no_ops"
+      ],
+      "left:grasp(tape), right:no_ops": [
+        "left:pick_up(tape), right:no_ops"
+      ],
+      "left:pick_up(tape), right:no_ops": [
+        "left:place(tape, open_drawer), right:no_ops"
+      ],
+      "left:place(tape, open_drawer), right:no_ops": [
+        "left:grasp(the_second_drawer), right:no_ops"
+      ],
+      "left:grasp(the_second_drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_tape_on_second_layer_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tape_on_second_layer_episode_7",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, tape), right:no_ops",
+      "left:grasp(tape), right:no_ops",
+      "left:pick_up(tape), right:no_ops",
+      "left:place(tape, open_drawer), right:no_ops",
+      "left:grasp(the_second_drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, tape), right:no_ops"
+      ],
+      "left:move_to(none, tape), right:no_ops": [
+        "left:grasp(tape), right:no_ops"
+      ],
+      "left:grasp(tape), right:no_ops": [
+        "left:pick_up(tape), right:no_ops"
+      ],
+      "left:pick_up(tape), right:no_ops": [
+        "left:place(tape, open_drawer), right:no_ops"
+      ],
+      "left:place(tape, open_drawer), right:no_ops": [
+        "left:grasp(the_second_drawer), right:no_ops"
+      ],
+      "left:grasp(the_second_drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_tape_on_second_layer_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tape_on_second_layer_episode_19",
+    "actions_list": [
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)",
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)",
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)",
+      "left:move_to(none, tape), right:no_ops",
+      "left:grasp(tape), right:no_ops",
+      "left:pick_up(tape), right:no_ops",
+      "left:place(tape, open_drawer), right:no_ops",
+      "left:grasp(the_second_drawer), right:no_ops",
+      "left:push(the_second_drawer,close), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer)": [
+        "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)"
+      ],
+      "left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer)": [
+        "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)"
+      ],
+      "left:pull(the_second_drawer,open), right:press(the_top_of_the_drawer)": [
+        "left:move_to(none, tape), right:no_ops"
+      ],
+      "left:move_to(none, tape), right:no_ops": [
+        "left:grasp(tape), right:no_ops"
+      ],
+      "left:grasp(tape), right:no_ops": [
+        "left:pick_up(tape), right:no_ops"
+      ],
+      "left:pick_up(tape), right:no_ops": [
+        "left:place(tape, open_drawer), right:no_ops"
+      ],
+      "left:place(tape, open_drawer), right:no_ops": [
+        "left:grasp(the_second_drawer), right:no_ops"
+      ],
+      "left:grasp(the_second_drawer), right:no_ops": [
+        "left:push(the_second_drawer,close), right:no_ops"
+      ],
+      "left:push(the_second_drawer,close), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_tape_on_second_layer_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tian_fold_cloth_episode_12",
+    "actions_list": [
+      "left:move_to(none,bottom_edge_of_the_t-shirt), right:move_to(none,bottom_edge_of_the_t-shirt)",
+      "left:grasp(bottom_edge_of_the_t-shirt), right:grasp(bottom_edge_of_the_t-shirt)",
+      "left:fold(bottom_half_of_the_t-shirt, backward), right:fold(bottom_half_of_the_t-shirt, backward)",
+      "left:move_to(none, top_left_corner_of_the_folded_portion), right:move_to(none, top_right_corner_of_the_folded_portion)",
+      "left:grasp(top_edge_of_the_folded_section), right:grasp(top_edge_of_the_folded_section)",
+      "left:pick_up(top_edge_of_the_folded_section), right:pick_up(top_edge_of_the_folded_section)",
+      "left:fold(top_half_of_the_t-shirt, backward), right:fold(top_half_of_the_t-shirt, backward)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,bottom_edge_of_the_t-shirt), right:move_to(none,bottom_edge_of_the_t-shirt)": [
+        "left:grasp(bottom_edge_of_the_t-shirt), right:grasp(bottom_edge_of_the_t-shirt)"
+      ],
+      "left:grasp(bottom_edge_of_the_t-shirt), right:grasp(bottom_edge_of_the_t-shirt)": [
+        "left:fold(bottom_half_of_the_t-shirt, backward), right:fold(bottom_half_of_the_t-shirt, backward)"
+      ],
+      "left:fold(bottom_half_of_the_t-shirt, backward), right:fold(bottom_half_of_the_t-shirt, backward)": [
+        "left:move_to(none, top_left_corner_of_the_folded_portion), right:move_to(none, top_right_corner_of_the_folded_portion)"
+      ],
+      "left:move_to(none, top_left_corner_of_the_folded_portion), right:move_to(none, top_right_corner_of_the_folded_portion)": [
+        "left:grasp(top_edge_of_the_folded_section), right:grasp(top_edge_of_the_folded_section)"
+      ],
+      "left:grasp(top_edge_of_the_folded_section), right:grasp(top_edge_of_the_folded_section)": [
+        "left:pick_up(top_edge_of_the_folded_section), right:pick_up(top_edge_of_the_folded_section)"
+      ],
+      "left:pick_up(top_edge_of_the_folded_section), right:pick_up(top_edge_of_the_folded_section)": [
+        "left:fold(top_half_of_the_t-shirt, backward), right:fold(top_half_of_the_t-shirt, backward)"
+      ],
+      "left:fold(top_half_of_the_t-shirt, backward), right:fold(top_half_of_the_t-shirt, backward)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_tian_fold_cloth_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tian_fold_cloth_episode_14",
+    "actions_list": [
+      "left:move_to(none,bottom_edge_of_the_t-shirt), right:move_to(none,bottom_edge_of_the_t-shirt)",
+      "left:grasp(bottom_edge_of_the_t-shirt), right:grasp(bottom_edge_of_the_t-shirt)",
+      "left:fold(bottom_half_of_the_t-shirt, backward), right:fold(bottom_half_of_the_t-shirt, backward)",
+      "left:move_to(none, top_left_corner_of_the_folded_portion), right:move_to(none, top_right_corner_of_the_folded_portion)",
+      "left:grasp(top_edge_of_the_folded_section), right:grasp(top_edge_of_the_folded_section)",
+      "left:pick_up(top_edge_of_the_folded_section), right:pick_up(top_edge_of_the_folded_section)",
+      "left:fold(top_half_of_the_t-shirt, backward), right:fold(top_half_of_the_t-shirt, backward)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,bottom_edge_of_the_t-shirt), right:move_to(none,bottom_edge_of_the_t-shirt)": [
+        "left:grasp(bottom_edge_of_the_t-shirt), right:grasp(bottom_edge_of_the_t-shirt)"
+      ],
+      "left:grasp(bottom_edge_of_the_t-shirt), right:grasp(bottom_edge_of_the_t-shirt)": [
+        "left:fold(bottom_half_of_the_t-shirt, backward), right:fold(bottom_half_of_the_t-shirt, backward)"
+      ],
+      "left:fold(bottom_half_of_the_t-shirt, backward), right:fold(bottom_half_of_the_t-shirt, backward)": [
+        "left:move_to(none, top_left_corner_of_the_folded_portion), right:move_to(none, top_right_corner_of_the_folded_portion)"
+      ],
+      "left:move_to(none, top_left_corner_of_the_folded_portion), right:move_to(none, top_right_corner_of_the_folded_portion)": [
+        "left:grasp(top_edge_of_the_folded_section), right:grasp(top_edge_of_the_folded_section)"
+      ],
+      "left:grasp(top_edge_of_the_folded_section), right:grasp(top_edge_of_the_folded_section)": [
+        "left:pick_up(top_edge_of_the_folded_section), right:pick_up(top_edge_of_the_folded_section)"
+      ],
+      "left:pick_up(top_edge_of_the_folded_section), right:pick_up(top_edge_of_the_folded_section)": [
+        "left:fold(top_half_of_the_t-shirt, backward), right:fold(top_half_of_the_t-shirt, backward)"
+      ],
+      "left:fold(top_half_of_the_t-shirt, backward), right:fold(top_half_of_the_t-shirt, backward)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_tian_fold_cloth_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tian_open_box_pick_bottle_episode_3",
+    "actions_list": [
+      "right:move_to(none, lid_of_the_container), left:no_ops",
+      "right:grasp(lid), left:no_ops",
+      "right:pick_up(lid), left:no_ops",
+      "right:place(lid_of_the_container,table), left:move_to(none,bottle)",
+      "right:no_ops, left:grasp(bottle)",
+      "left:pick_up(bottle), right:no_ops",
+      "left:place(bottle, table), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, lid_of_the_container), left:no_ops": [
+        "right:grasp(lid), left:no_ops"
+      ],
+      "right:grasp(lid), left:no_ops": [
+        "right:pick_up(lid), left:no_ops"
+      ],
+      "right:pick_up(lid), left:no_ops": [
+        "right:place(lid_of_the_container,table), left:move_to(none,bottle)"
+      ],
+      "right:place(lid_of_the_container,table), left:move_to(none,bottle)": [
+        "right:no_ops, left:grasp(bottle)"
+      ],
+      "right:no_ops, left:grasp(bottle)": [
+        "left:pick_up(bottle), right:no_ops"
+      ],
+      "left:pick_up(bottle), right:no_ops": [
+        "left:place(bottle, table), right:no_ops"
+      ],
+      "left:place(bottle, table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_tian_open_box_pick_bottle_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tian_open_box_pick_bottle_episode_11",
+    "actions_list": [
+      "left:move_to(none, left,_container_lid), right:right_move_to(none, container_lid)",
+      "left:grasp(left_container_lid), right:grasp(right_container_lid)",
+      "left:pick_up(left_container_lid), right:pick_up(right_container_lid)",
+      "left:place(container_lid,table), right:place(container_lid,table)",
+      "left:no_ops, right:move_to(container_lid, table)",
+      "left:no_ops, right:place(container_lid, table)",
+      "left:no_ops, right:move_to(none,bottle)",
+      "left:no_ops, right:grasp(bottle)",
+      "left:no_ops, right:pick_up(bottle)",
+      "left:no_ops, right:place(bottle,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left,_container_lid), right:right_move_to(none, container_lid)": [
+        "left:grasp(left_container_lid), right:grasp(right_container_lid)"
+      ],
+      "left:grasp(left_container_lid), right:grasp(right_container_lid)": [
+        "left:pick_up(left_container_lid), right:pick_up(right_container_lid)"
+      ],
+      "left:pick_up(left_container_lid), right:pick_up(right_container_lid)": [
+        "left:place(container_lid,table), right:place(container_lid,table)"
+      ],
+      "left:place(container_lid,table), right:place(container_lid,table)": [
+        "left:no_ops, right:move_to(container_lid, table)"
+      ],
+      "left:no_ops, right:move_to(container_lid, table)": [
+        "left:no_ops, right:place(container_lid, table)"
+      ],
+      "left:no_ops, right:place(container_lid, table)": [
+        "left:no_ops, right:move_to(none,bottle)"
+      ],
+      "left:no_ops, right:move_to(none,bottle)": [
+        "left:no_ops, right:grasp(bottle)"
+      ],
+      "left:no_ops, right:grasp(bottle)": [
+        "left:no_ops, right:pick_up(bottle)"
+      ],
+      "left:no_ops, right:pick_up(bottle)": [
+        "left:no_ops, right:place(bottle,table)"
+      ],
+      "left:no_ops, right:place(bottle,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_tian_open_box_pick_bottle_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tian_open_laptop_press_keyboard_episode_7",
+    "actions_list": [
+      "left:move_to(none, laptop), right:no_ops",
+      "right:no_ops, left:grasp(laptop_lid)",
+      "right:move_to(laptop_keyboard), left:turn(laptop,up,ope)",
+      "right:move_to(none,keyboard), left:no_ops",
+      "right:press(keyboard), left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, laptop), right:no_ops": [
+        "right:no_ops, left:grasp(laptop_lid)"
+      ],
+      "right:no_ops, left:grasp(laptop_lid)": [
+        "right:move_to(laptop_keyboard), left:turn(laptop,up,ope)"
+      ],
+      "right:move_to(laptop_keyboard), left:turn(laptop,up,ope)": [
+        "right:move_to(none,keyboard), left:no_ops"
+      ],
+      "right:move_to(none,keyboard), left:no_ops": [
+        "right:press(keyboard), left:no_ops"
+      ],
+      "right:press(keyboard), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_tian_open_laptop_press_keyboard_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_charger_episode_2",
+    "actions_list": [
+      "left:move_to(none, socket), right:move_to(none, charger)",
+      "right:grasp(charger), left:grasp(socket)",
+      "right:pullout(charger,table), left:press(socket)",
+      "right:place(charger, table), left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, socket), right:move_to(none, charger)": [
+        "right:grasp(charger), left:grasp(socket)"
+      ],
+      "right:grasp(charger), left:grasp(socket)": [
+        "right:pullout(charger,table), left:press(socket)"
+      ],
+      "right:pullout(charger,table), left:press(socket)": [
+        "right:place(charger, table), left:no_ops"
+      ],
+      "right:place(charger, table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unplug_charger_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_charger_episode_10",
+    "actions_list": [
+      "left:move_to(none, socket), right:move_to(none, charger)",
+      "right:grasp(charger), left:grasp(socket)",
+      "right:pullout(charger,socket), left:press(socket)",
+      "right:move_to(charger, table), left:no_ops",
+      "right:place(charger, table), left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, socket), right:move_to(none, charger)": [
+        "right:grasp(charger), left:grasp(socket)"
+      ],
+      "right:grasp(charger), left:grasp(socket)": [
+        "right:pullout(charger,socket), left:press(socket)"
+      ],
+      "right:pullout(charger,socket), left:press(socket)": [
+        "right:move_to(charger, table), left:no_ops"
+      ],
+      "right:move_to(charger, table), left:no_ops": [
+        "right:place(charger, table), left:no_ops"
+      ],
+      "right:place(charger, table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unplug_charger_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_charger_episode_14",
+    "actions_list": [
+      "left:move_to(none, socket), right:move_to(none, charger)",
+      "right:grasp(charger), left:grasp(socket)",
+      "right:pick_up(charger), left:press(socket)",
+      "right:place(charger, table), left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, socket), right:move_to(none, charger)": [
+        "right:grasp(charger), left:grasp(socket)"
+      ],
+      "right:grasp(charger), left:grasp(socket)": [
+        "right:pick_up(charger), left:press(socket)"
+      ],
+      "right:pick_up(charger), left:press(socket)": [
+        "right:place(charger, table), left:no_ops"
+      ],
+      "right:place(charger, table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unplug_charger_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_data_cable_episode_0",
+    "actions_list": [
+      "left:move_to(none, hard_drive), right:move_to(none, hard_drive)",
+      "left:grasp(hard_drive), right:grasp(data_cable)",
+      "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)",
+      "right:place(data_cable,table), left:place(hard_drive,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, hard_drive), right:move_to(none, hard_drive)": [
+        "left:grasp(hard_drive), right:grasp(data_cable)"
+      ],
+      "left:grasp(hard_drive), right:grasp(data_cable)": [
+        "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)"
+      ],
+      "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)": [
+        "right:place(data_cable,table), left:place(hard_drive,table)"
+      ],
+      "right:place(data_cable,table), left:place(hard_drive,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unplug_data_cable_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_data_cable_episode_2",
+    "actions_list": [
+      "left:move_to(none, hard_drive), right:move_to(none, data_cable)",
+      "left:grasp(hard_drive), right:grasp(data_cable)",
+      "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)",
+      "left:place(hard_drive,table), right:place(data_cable,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, hard_drive), right:move_to(none, data_cable)": [
+        "left:grasp(hard_drive), right:grasp(data_cable)"
+      ],
+      "left:grasp(hard_drive), right:grasp(data_cable)": [
+        "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)"
+      ],
+      "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)": [
+        "left:place(hard_drive,table), right:place(data_cable,table)"
+      ],
+      "left:place(hard_drive,table), right:place(data_cable,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unplug_data_cable_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_data_cable_episode_3",
+    "actions_list": [
+      "left:move_to(none, hard_drive), right:move_to(none, data_cable)",
+      "left:grasp(hard_drive), right:grasp(data_cable)",
+      "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)",
+      "left:place(hard_drive,table), right:place(data_cable,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, hard_drive), right:move_to(none, data_cable)": [
+        "left:grasp(hard_drive), right:grasp(data_cable)"
+      ],
+      "left:grasp(hard_drive), right:grasp(data_cable)": [
+        "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)"
+      ],
+      "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)": [
+        "left:place(hard_drive,table), right:place(data_cable,table)"
+      ],
+      "left:place(hard_drive,table), right:place(data_cable,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unplug_data_cable_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_data_cable_episode_6",
+    "actions_list": [
+      "left:move_to(none,hard_drive), right:move_to(none, data_cable)",
+      "left:grasp(hard_drive), right:grasp(data_cable)",
+      "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)",
+      "left:place(hrad_drive,table), right:place(data_cable,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,hard_drive), right:move_to(none, data_cable)": [
+        "left:grasp(hard_drive), right:grasp(data_cable)"
+      ],
+      "left:grasp(hard_drive), right:grasp(data_cable)": [
+        "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)"
+      ],
+      "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)": [
+        "left:place(hrad_drive,table), right:place(data_cable,table)"
+      ],
+      "left:place(hrad_drive,table), right:place(data_cable,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unplug_data_cable_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_data_cable_episode_13",
+    "actions_list": [
+      "left:move_to(none, hard_drive), right:move_to(none, data_cable)",
+      "left:grasp(hard_drive), right:grasp(data_cable)",
+      "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)",
+      "left:place(hard_drive,table), right:place(data_cable,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, hard_drive), right:move_to(none, data_cable)": [
+        "left:grasp(hard_drive), right:grasp(data_cable)"
+      ],
+      "left:grasp(hard_drive), right:grasp(data_cable)": [
+        "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)"
+      ],
+      "left:pick_up(hard_drive), right:pullout(data_cable,hard_drive)": [
+        "left:place(hard_drive,table), right:place(data_cable,table)"
+      ],
+      "left:place(hard_drive,table), right:place(data_cable,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unplug_data_cable_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unscrew_cap_episode_7",
+    "actions_list": [
+      "left:move_to(none, bottle), right:move_to(none, bottle_cap)",
+      "left:grasp(bottle), right:grasp(bottle_cap)",
+      "left:pick_up(bottle), right:turn(bottle_cap,anticlockwise,open)",
+      "left:place(bottle,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, bottle), right:move_to(none, bottle_cap)": [
+        "left:grasp(bottle), right:grasp(bottle_cap)"
+      ],
+      "left:grasp(bottle), right:grasp(bottle_cap)": [
+        "left:pick_up(bottle), right:turn(bottle_cap,anticlockwise,open)"
+      ],
+      "left:pick_up(bottle), right:turn(bottle_cap,anticlockwise,open)": [
+        "left:place(bottle,table), right:no_ops"
+      ],
+      "left:place(bottle,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unscrew_cap_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unscrew_cap_episode_19",
+    "actions_list": [
+      "left:move_to(none, bottle), right:move_to(none, bottle_cap)",
+      "left:grasp(bottle), right:grasp(bottle_cap)",
+      "left:pick_up(bottle), right:turn(bottle_cap,anticlockwise,open)",
+      "left:place(bottle,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, bottle), right:move_to(none, bottle_cap)": [
+        "left:grasp(bottle), right:grasp(bottle_cap)"
+      ],
+      "left:grasp(bottle), right:grasp(bottle_cap)": [
+        "left:pick_up(bottle), right:turn(bottle_cap,anticlockwise,open)"
+      ],
+      "left:pick_up(bottle), right:turn(bottle_cap,anticlockwise,open)": [
+        "left:place(bottle,table), right:no_ops"
+      ],
+      "left:place(bottle,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unscrew_cap_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unwind_charging_cable_episode_17",
+    "actions_list": [
+      "left:move_to(none, left_charging_cable), right:move_to(none, right_charging_cable)",
+      "left:grasp(the_left_side_of_the_charging_cable), right:grasp(the_right_side_of_the_charging_cable)",
+      "left:pick_up(the_left_side_of_the_charging_cable), right:pick_up(the_right_side_of_the_charging_cable)",
+      "left:pull(charging_cable,straight), right:pull(charging_cable,straight)",
+      "left:place(charging_cable,table), right:place(none, charging_cable,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, left_charging_cable), right:move_to(none, right_charging_cable)": [
+        "left:grasp(the_left_side_of_the_charging_cable), right:grasp(the_right_side_of_the_charging_cable)"
+      ],
+      "left:grasp(the_left_side_of_the_charging_cable), right:grasp(the_right_side_of_the_charging_cable)": [
+        "left:pick_up(the_left_side_of_the_charging_cable), right:pick_up(the_right_side_of_the_charging_cable)"
+      ],
+      "left:pick_up(the_left_side_of_the_charging_cable), right:pick_up(the_right_side_of_the_charging_cable)": [
+        "left:pull(charging_cable,straight), right:pull(charging_cable,straight)"
+      ],
+      "left:pull(charging_cable,straight), right:pull(charging_cable,straight)": [
+        "left:place(charging_cable,table), right:place(none, charging_cable,table)"
+      ],
+      "left:place(charging_cable,table), right:place(none, charging_cable,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unwind_charging_cable_episode_17.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unzip_the_bag_episode_10",
+    "actions_list": [
+      "left:move_to(none, bag_zipper), right:move_to(none,bag)",
+      "left:garsp(bag_zipper), right:grasp(bag)",
+      "left:pull(zipper,down) right:pick_up(bag)",
+      "left:no_ops,right:place(bag,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, bag_zipper), right:move_to(none,bag)": [
+        "left:garsp(bag_zipper), right:grasp(bag)"
+      ],
+      "left:garsp(bag_zipper), right:grasp(bag)": [
+        "left:pull(zipper,down) right:pick_up(bag)"
+      ],
+      "left:pull(zipper,down) right:pick_up(bag)": [
+        "left:no_ops,right:place(bag,table)"
+      ],
+      "left:no_ops,right:place(bag,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_unzip_the_bag_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_up_down_cube_episode_5",
+    "actions_list": [
+      "left:move_to(none, rubik's_cube), right:no_ops",
+      "left:grasp(rubik's_cube), right:no_ops",
+      "left:pick_up(rubik's_cube), right:no_ops",
+      "move_to(left, right, rubik's_cube)",
+      "right:place(rubik's_cube, table), left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, rubik's_cube), right:no_ops": [
+        "left:grasp(rubik's_cube), right:no_ops"
+      ],
+      "left:grasp(rubik's_cube), right:no_ops": [
+        "left:pick_up(rubik's_cube), right:no_ops"
+      ],
+      "left:pick_up(rubik's_cube), right:no_ops": [
+        "move_to(left, right, rubik's_cube)"
+      ],
+      "move_to(left, right, rubik's_cube)": [
+        "right:place(rubik's_cube, table), left:no_ops"
+      ],
+      "right:place(rubik's_cube, table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_up_down_cube_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_cup_1_episode_1",
+    "actions_list": [
+      "right:move_to(none, mug), left:no_ops",
+      "right:grasp(mug), left:move_to(none,faucet_switch)",
+      "right:pick_up(mug), left:ngrasp(faucet_switch)",
+      "left:press(faucet_switch),right:move_to(mug, under_faucet)",
+      "left:no_ops, right:pour(mug,water,sink)",
+      "right:place(mug, table), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, mug), left:no_ops": [
+        "right:grasp(mug), left:move_to(none,faucet_switch)"
+      ],
+      "right:grasp(mug), left:move_to(none,faucet_switch)": [
+        "right:pick_up(mug), left:ngrasp(faucet_switch)"
+      ],
+      "right:pick_up(mug), left:ngrasp(faucet_switch)": [
+        "left:press(faucet_switch),right:move_to(mug, under_faucet)"
+      ],
+      "left:press(faucet_switch),right:move_to(mug, under_faucet)": [
+        "left:no_ops, right:pour(mug,water,sink)"
+      ],
+      "left:no_ops, right:pour(mug,water,sink)": [
+        "right:place(mug, table), left:no_ops"
+      ],
+      "right:place(mug, table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_wash_cup_1_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_cup_2_episode_5",
+    "actions_list": [
+      "right:move_to(none, mug), left:no_ops",
+      "right:grasp(mug), left:move_to(none,faucet_switch)",
+      "right:pick_up(mug), left:grasp(faucet_switch)",
+      "right:move_to(mug, under_faucet), left:press(faucet_switch)",
+      "right:pour(mug, water,sink), left:no_ops",
+      "right:place(mug, table), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, mug), left:no_ops": [
+        "right:grasp(mug), left:move_to(none,faucet_switch)"
+      ],
+      "right:grasp(mug), left:move_to(none,faucet_switch)": [
+        "right:pick_up(mug), left:grasp(faucet_switch)"
+      ],
+      "right:pick_up(mug), left:grasp(faucet_switch)": [
+        "right:move_to(mug, under_faucet), left:press(faucet_switch)"
+      ],
+      "right:move_to(mug, under_faucet), left:press(faucet_switch)": [
+        "right:pour(mug, water,sink), left:no_ops"
+      ],
+      "right:pour(mug, water,sink), left:no_ops": [
+        "right:place(mug, table), left:no_ops"
+      ],
+      "right:place(mug, table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_wash_cup_2_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_cup_2_episode_19",
+    "actions_list": [
+      "right:move_to(none, mug), left:no_ops",
+      "right:grasp(mug), left:move_to(none,faucet_switch)",
+      "right:pick_up(mug), left:grasp(faucet_switch)",
+      "right:move_to(mug, under_faucet), left:press(faucet_switch)",
+      "right:pour(mug,water,sink), left:no_ops",
+      "right:place(mug, table), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, mug), left:no_ops": [
+        "right:grasp(mug), left:move_to(none,faucet_switch)"
+      ],
+      "right:grasp(mug), left:move_to(none,faucet_switch)": [
+        "right:pick_up(mug), left:grasp(faucet_switch)"
+      ],
+      "right:pick_up(mug), left:grasp(faucet_switch)": [
+        "right:move_to(mug, under_faucet), left:press(faucet_switch)"
+      ],
+      "right:move_to(mug, under_faucet), left:press(faucet_switch)": [
+        "right:pour(mug,water,sink), left:no_ops"
+      ],
+      "right:pour(mug,water,sink), left:no_ops": [
+        "right:place(mug, table), left:no_ops"
+      ],
+      "right:place(mug, table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_wash_cup_2_episode_19.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_cup_5_episode_14",
+    "actions_list": [
+      "right:move_to(none, mug), left:no_ops",
+      "right:grasp(mug), left:move_to(none,faucet_switch)",
+      "right:pick_up(mug), left:grasp(faucet_switch)",
+      "right:move_to(mug,under_faucet), left:press(faucet_switch)",
+      "right:pour(mug,water,sink), left:no_ops",
+      "right:place(mug, table), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, mug), left:no_ops": [
+        "right:grasp(mug), left:move_to(none,faucet_switch)"
+      ],
+      "right:grasp(mug), left:move_to(none,faucet_switch)": [
+        "right:pick_up(mug), left:grasp(faucet_switch)"
+      ],
+      "right:pick_up(mug), left:grasp(faucet_switch)": [
+        "right:move_to(mug,under_faucet), left:press(faucet_switch)"
+      ],
+      "right:move_to(mug,under_faucet), left:press(faucet_switch)": [
+        "right:pour(mug,water,sink), left:no_ops"
+      ],
+      "right:pour(mug,water,sink), left:no_ops": [
+        "right:place(mug, table), left:no_ops"
+      ],
+      "right:place(mug, table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_wash_cup_5_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_cup_6_episode_4",
+    "actions_list": [
+      "left:no_ops,right:move_to(none,mug)",
+      "left:move_to(none, faucet_switch), right:grasp(mug)",
+      "left:grasp(faucet_switch), right:pick_up(mug)",
+      "left:press(faucet_switch), right:move_to(mug,under_faucet)",
+      "left:no_ops, right:pour(mug,water, sink)",
+      "left:no_ops, right:place(mug, table)"
+    ],
+    "gt_dag": {
+      "left:no_ops,right:move_to(none,mug)": [
+        "left:move_to(none, faucet_switch), right:grasp(mug)"
+      ],
+      "left:move_to(none, faucet_switch), right:grasp(mug)": [
+        "left:grasp(faucet_switch), right:pick_up(mug)"
+      ],
+      "left:grasp(faucet_switch), right:pick_up(mug)": [
+        "left:press(faucet_switch), right:move_to(mug,under_faucet)"
+      ],
+      "left:press(faucet_switch), right:move_to(mug,under_faucet)": [
+        "left:no_ops, right:pour(mug,water, sink)"
+      ],
+      "left:no_ops, right:pour(mug,water, sink)": [
+        "left:no_ops, right:place(mug, table)"
+      ],
+      "left:no_ops, right:place(mug, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_wash_cup_6_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_water_episode_5",
+    "actions_list": [
+      "right:move_to(none, mug), left:no_ops",
+      "right:grasp(mug), left:move_to(none,faucet_switch)",
+      "right:pick_up(mug), left:grasp(faucet_switch)",
+      "right:move_to(mug,under_faucet), left:press(faucet_switch)",
+      "right:pour(mug,water,sink), left:no_ops",
+      "right:move_to(mug, sink), left:no_ops",
+      "right:place(mug,table), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, mug), left:no_ops": [
+        "right:grasp(mug), left:move_to(none,faucet_switch)"
+      ],
+      "right:grasp(mug), left:move_to(none,faucet_switch)": [
+        "right:pick_up(mug), left:grasp(faucet_switch)"
+      ],
+      "right:pick_up(mug), left:grasp(faucet_switch)": [
+        "right:move_to(mug,under_faucet), left:press(faucet_switch)"
+      ],
+      "right:move_to(mug,under_faucet), left:press(faucet_switch)": [
+        "right:pour(mug,water,sink), left:no_ops"
+      ],
+      "right:pour(mug,water,sink), left:no_ops": [
+        "right:move_to(mug, sink), left:no_ops"
+      ],
+      "right:move_to(mug, sink), left:no_ops": [
+        "right:place(mug,table), left:no_ops"
+      ],
+      "right:place(mug,table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_wash_water_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wipe_table_l2r_avoid_episode_2",
+    "actions_list": [
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:wipe(sponge, water,left_table), right:no_ops",
+      "left:place( sponge,middle_table),right :no_ops",
+      "right:move_to(none,sponge), left:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:wipe(sponge,water,right_table), left:no_ops",
+      "right:place(sponge, next_bottle_on_table), left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:wipe(sponge, water,left_table), right:no_ops"
+      ],
+      "left:wipe(sponge, water,left_table), right:no_ops": [
+        "left:place( sponge,middle_table),right :no_ops"
+      ],
+      "left:place( sponge,middle_table),right :no_ops": [
+        "right:move_to(none,sponge), left:no_ops"
+      ],
+      "right:move_to(none,sponge), left:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:wipe(sponge,water,right_table), left:no_ops"
+      ],
+      "right:wipe(sponge,water,right_table), left:no_ops": [
+        "right:place(sponge, next_bottle_on_table), left:no_ops"
+      ],
+      "right:place(sponge, next_bottle_on_table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_wipe_table_l2r_avoid_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wipe_table_l2r_avoid_episode_7",
+    "actions_list": [
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:wipe(sponge, water,left_table), right:no_ops",
+      "left:place( sponge,middle_table),right :no_ops",
+      "right:move_to(none,sponge), left:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:wipe(sponge,water,right_table), left:no_ops",
+      "right:place(sponge, next_bottle_on_table), left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:wipe(sponge, water,left_table), right:no_ops"
+      ],
+      "left:wipe(sponge, water,left_table), right:no_ops": [
+        "left:place( sponge,middle_table),right :no_ops"
+      ],
+      "left:place( sponge,middle_table),right :no_ops": [
+        "right:move_to(none,sponge), left:no_ops"
+      ],
+      "right:move_to(none,sponge), left:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:wipe(sponge,water,right_table), left:no_ops"
+      ],
+      "right:wipe(sponge,water,right_table), left:no_ops": [
+        "right:place(sponge, next_bottle_on_table), left:no_ops"
+      ],
+      "right:place(sponge, next_bottle_on_table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_wipe_table_l2r_avoid_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17",
+    "actions_list": [
+      "righ :move_to(none, sponge), leftright:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:wipe(sponge,water,right_table), left:no_ops",
+      "right:place(sponge, middle_table), left:no_ops",
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:wipe(sponge, water,left_table), right:no_ops",
+      "left:place( sponge,next_table_on_table),right :no_ops"
+    ],
+    "gt_dag": {
+      "righ :move_to(none, sponge), leftright:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:wipe(sponge,water,right_table), left:no_ops"
+      ],
+      "right:wipe(sponge,water,right_table), left:no_ops": [
+        "right:place(sponge, middle_table), left:no_ops"
+      ],
+      "right:place(sponge, middle_table), left:no_ops": [
+        "left:move_to(none, sponge), right:no_ops"
+      ],
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:wipe(sponge, water,left_table), right:no_ops"
+      ],
+      "left:wipe(sponge, water,left_table), right:no_ops": [
+        "left:place( sponge,next_table_on_table),right :no_ops"
+      ],
+      "left:place( sponge,next_table_on_table),right :no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_0",
+    "actions_list": [
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)",
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)",
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)",
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)",
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)": [
+        "left:grasp(document_bag), right:grasp(document_pouch_zipper)"
+      ],
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)": [
+        "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)"
+      ],
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)": [
+        "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)"
+      ],
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)": [
+        "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+      ],
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_zip_the_bag_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_1",
+    "actions_list": [
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)",
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)",
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)",
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)",
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)": [
+        "left:grasp(document_bag), right:grasp(document_pouch_zipper)"
+      ],
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)": [
+        "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)"
+      ],
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)": [
+        "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)"
+      ],
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)": [
+        "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+      ],
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_zip_the_bag_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_6",
+    "actions_list": [
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)",
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)",
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)",
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)",
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)": [
+        "left:grasp(document_bag), right:grasp(document_pouch_zipper)"
+      ],
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)": [
+        "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)"
+      ],
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)": [
+        "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)"
+      ],
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)": [
+        "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+      ],
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_zip_the_bag_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_8",
+    "actions_list": [
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)",
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)",
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)",
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)",
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)": [
+        "left:grasp(document_bag), right:grasp(document_pouch_zipper)"
+      ],
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)": [
+        "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)"
+      ],
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)": [
+        "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)"
+      ],
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)": [
+        "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+      ],
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_zip_the_bag_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_11",
+    "actions_list": [
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)",
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)",
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)",
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)",
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)": [
+        "left:grasp(document_bag), right:grasp(document_pouch_zipper)"
+      ],
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)": [
+        "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)"
+      ],
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)": [
+        "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)"
+      ],
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)": [
+        "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+      ],
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_zip_the_bag_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_16",
+    "actions_list": [
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)",
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper",
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)",
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)",
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)": [
+        "left:grasp(document_bag), right:grasp(document_pouch_zipper"
+      ],
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper": [
+        "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)"
+      ],
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)": [
+        "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)"
+      ],
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)": [
+        "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+      ],
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_zip_the_bag_episode_16.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_18",
+    "actions_list": [
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)",
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)",
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)",
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)",
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,document_bag), right:move_to(none, document_pouch_zipper)": [
+        "left:grasp(document_bag), right:grasp(document_pouch_zipper)"
+      ],
+      "left:grasp(document_bag), right:grasp(document_pouch_zipper)": [
+        "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)"
+      ],
+      "left:pick_up(document_bag), right:pick_up( document_pouch_zipper)": [
+        "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)"
+      ],
+      "left:hold(document_bag), right:pull(document_pouch_zipper,syate_of_close)": [
+        "left:place(document_bag,table), right:place(document_pouch_zipper,table)"
+      ],
+      "left:place(document_bag,table), right:place(document_pouch_zipper,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_RDT-FT_imgs_1_zip_the_bag_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/dual_arm/images/rt_frames_success_rtx_frames_success_2_3_utokyo_xarm_bimanual_converted_externally_to_rlds#episode_16",
+    "actions_list": [
+      "left: move_to(none, left_wrinkled_towel), right: move_to(none, right_wrinkled_towel)",
+      "left: grasp(left_edge_of_towel), right: grasp(right_edge_of_towel)",
+      "left: pick_up(left_edge_of_towel), right: pick_up(right_edge_of_towel)",
+      "left: unfold(left_edge_of_towel,left_towe), right: unfold(right_edge_of_towel,right_towe)"
+    ],
+    "gt_dag": {
+      "left: move_to(none, left_wrinkled_towel), right: move_to(none, right_wrinkled_towel)": [
+        "left: grasp(left_edge_of_towel), right: grasp(right_edge_of_towel)"
+      ],
+      "left: grasp(left_edge_of_towel), right: grasp(right_edge_of_towel)": [
+        "left: pick_up(left_edge_of_towel), right: pick_up(right_edge_of_towel)"
+      ],
+      "left: pick_up(left_edge_of_towel), right: pick_up(right_edge_of_towel)": [
+        "left: unfold(left_edge_of_towel,left_towe), right: unfold(right_edge_of_towel,right_towe)"
+      ],
+      "left: unfold(left_edge_of_towel,left_towe), right: unfold(right_edge_of_towel,right_towe)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_dual_arm_images_rt_frames_success_rtx_frames_success_2_3_utokyo_xarm_bimanual_converted_externally_to_rlds#episode_16.png"
+  }
+]
\ No newline at end of file
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+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <remove the usb from the device on the right and plug it into the device on the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, the_right_devices), right:move_to(none, the_right_devices), 2-left:grasp(the_right_device), right:grasp(usb_drive), 3-left:press(none, the_right_device), right:pick_up(usb_drive), 4-left:no_ops, right:move_to(usb_drive, the_left_device), 5-left:no_ops, right:insert(usb_drive, the_left_device)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/ARIO_imgs_extract-frames_Songling_series-1_task-pick_U_driver_20_4_7th_PCL_episode-20_rgbd-cam_high_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <remove the usb from the device on the right and plug it into the device on the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, the_right_devices), right:move_to(none, the_right_devices), 2-left:grasp(the_right_device), right:grasp(usb_drive), 3-left:press(none, the_right_device), right:pick_up(usb_drive), 4-left:no_ops, right:move_to(usb_drive, the_left_device), 5-left:no_ops, right:insert(usb_drive, the_left_device)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing an earphone case in the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer_handle), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, earphone_case), right:no_ops, 5-left:grasp(earphone_case), right:no_ops, 6-left:pick_up(earphone_case), right:no_ops, 7-left:place(earphone_case, open_drawer), right:no_ops, 8-left:grasp(the_second_drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing an earphone case in the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, earphone_case), right:no_ops, 5-left:grasp(earphone_case), right:no_ops, 6-left:pick_up(earphone_case), right:no_ops, 7-left:place(earphone_case, open_drawer), right:no_ops, 8-left:push(drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing an earphone case in the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, earphone_case), right:no_ops, 5-left:grasp(earphone_case), right:no_ops, 6-left:pick_up(earphone_case), right:no_ops, 7-left:place(earphone_case, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing an earphone case in the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, earphone_case), right:no_ops, 5-left:grasp(earphone_case), right:no_ops, 6-left:pick_up(earphone_case), right:no_ops, 7-left:place(earphone_case, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_15_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing an earphone case in the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, earphone_case), right:no_ops, 5-left:grasp(earphone_case), right:no_ops, 6-left:pick_up(earphone_case), right:no_ops, 7-left:place(earphone_case, open_drawer), right:no_ops, 8-leftgrasp(drawer), right:no_ops, 9-left:push(drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing an earphone case in the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, earphone_case), right:no_ops, 5-left:grasp(earphone_case), right:no_ops, 6-left:pick_up(earphone_case), right:no_ops, 7-left:place(earphone_case, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_22_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <putting an earphone case into the second drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, earphone_case), right:no_ops, 5-left:grasp(earphone_case), right:no_ops, 6-left:pick_up(earphone_case), right:no_ops, 7-left:place(earphone_case, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_second_layer_episode_23_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <putting an earphone case into the second drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, earphone_case), right:no_ops, 5-left:grasp(earphone_case), right:no_ops, 6-left:pick_up(earphone_case), right:no_ops, 7-left:place(earphone_case, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_third_layer_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <putting an earphone case into the drawer at the bottom and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_bottom_drawer), right:move_to(none, drawer), 2-left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, earphone_case), right:no_ops, 5-left:grasp(earphone_case), right:no_ops, 6-left:pick_up(earphone_case), right:no_ops, 7-left:place(earphone_case, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(the_bottom_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_airpods_on_third_layer_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <putting an earphone case into the drawer at the bottom and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_bottom_drawer), right:move_to(none, drawer), 2-left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, earphone_case), right:no_ops, 5-left:grasp(earphone_case), right:no_ops, 6-left:pick_up(earphone_case), right:no_ops, 7-left:move_to(earphone_case, drawer), right:no_ops, 8-left:place(earphone_case, drawer), right:no_ops, 9-left:push(drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_2_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a laptop lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_of_laptop), right:move_to(none, right_of_laptop), 2-left:grasp(laptop_lid), right:grasp(laptop_lid), 3-left:press(none, laptop_lid), right:press(none, laptop_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_2_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a laptop lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_of_laptop), right:move_to(none, right_of_laptop), 2-left:grasp(laptop_lid), right:grasp(laptop_lid), 3-left:press(none, laptop_lid), right:press(none, laptop_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_2_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a laptop lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, laptop), right:no_ops, 2-left:grasp(laptop_lid), right:no_ops, 3-left:press(none, laptop_lid), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_2_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a laptop lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_of_laptop), right:move_to(none, right_of_laptop), 2-left:grasp(laptop_lid), right:grasp(laptop_lid), 3-left:press(none, laptop), right:press(none, laptop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a laptop lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:no_ops, right:move_to(none, laptop_lid), 2-left:no_ops, right:grasp(laptop_lid), 3-left:no_ops, right:press(none, laptop_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_episode_17_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a laptop lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:no_ops, right:move_to(none, laptop_lid), 2-left:no_ops, right:grasp(laptop_lid), 3-left:no_ops, right:press(none, laptop_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_laptop_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a laptop lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:no_ops, right:move_to(none, laptop_lid), 2-left: no_ops, right:grasp(laptop_lid), 3-left:no_ops, right:press(none, laptop_lid)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_close_the_book_episode_16_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a book> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_of_book), right:move_to(none, right_of_book), 2-left:grasp(book), right:grasp(obook), 3-left:turn(book, up, close), right:press(none, book)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_collect_earphone_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing earphones in the opened drawer at the bottom> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:no_ops, right:move_to(none, earphone_case), 2-right:grasp(earphone_case), left:no_ops, 3-right:pick_up(earphone_case), left:no_ops, 4-transfer(right, left, earphone_case), 5-left:place(earphone_case, drawer), right:no_ops, 6-left:grasp(the_top_drawer), right:grasp(the_bottom_drawer), 7-left:press(none, drawer), right:push(the_bottom_drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_collect_litter_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <throwing paper into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-left:move_to(none, left_paper), right:move_to(none, right_paper), 2-left:grasp(left_paper), right:grasp(right_paper), 3-left:pick_up(left_paper), right:pick_up(right_paper), 4-left:place(left_paper, trash_can), right:place(right_paper, trash_can), 5-left:move_to(none, paper), right:no_ops, 6-left:grasp(middle_paper), right:no_ops, 7-left:pick_up(middle_paper), right:no_ops, 8-left:place(middle_paper), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_collect_litter_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <throwing crumpled paper into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-left:move_to(none, left_paper), right:move_to(none, right_paper), 2-left:grasp(left_paper), right:grasp(right_paper), 3-left:pick_up(left_paper), right:pick_up(right_paper), 4-left:place(left_paper, trash_can), right:place(right_paper, trash_can), 5-left:move_to(none, middle_paper), right:no_ops, 6-left:grasp(middle_paper), right:no_ops, 7-left:pick_up(middle_paper), right:no_ops, 8-left:place(middle_paper, trash_can), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_collect_pen_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <packing marker pens into a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-left:move_to(none, left_marker_pen), right:move_to(none, right_marker_pen), 2-left:grasp(left_marker_pen), right:grasp(right_marker_pen), 3-left:pcik_up(left_marker_pen), right:pcik_up(right_marker_pen), 4-left:place(left_marker_pen, box), right:place(right_marker_pen, box), 5-left:move_to(none, marker), right:no_ops, 6-left:grasp(marker), right:no_ops, 7-left:pick_up(marker_pen), right:no_ops, 8-left:place(marker, box), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_cover_mirror_jsh_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <covering a mirror with a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, left_cloth), right:move_to(none, right_cloth), 2-left:grasp(cloth), right:grasp(cloth), 3-left:pick_up(cloth), right:pick_up(cloth), 4-left:place(cloth, top_of_mirror), right:place(cloth, top_of_mirror)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_cover_mirror_jsh_episode_15_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <covering a mirror with a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, left_cloth), right:move_to(none, right_cloth), 2-left:grasp(cloth), right:grasp(cloth), 3-left:pick_up(cloth), right:pick_up(cloth), 4-left:place(cloth, top_of_mirror), right:place(cloth, top_of_mirror)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_cover_spary_lid_episode_17_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing a lid on a spray bottle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, spray_bottle), right:move_to(none, lid_of_the_spray_bottle), 2-left:grasp(spray_bottle), right:grasp(lid_of_the_spray_bottle), 3-left:no_ops, right:pick_up(lid_of_the_spray_bottle), 4-left:no_ops, right:place(lid, spray_bottle)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_exchange_cup_position_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <swapping the positions of two cups> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, transparent_plastic_cup), right:move_to(none, white_ceramic_cup), 2-left:grasp(transparent_plastic_cup), right:grasp(white_ceramic_cup), 3-left:pick_up(transparent_plastic_cup), right:pick_up(white_ceramic_cup), 4-left:place(transparent_plastic_cup, white_ceramic_cups_original_position), right:no_ops, 5-left:no_ops, right:place(white_ceramic_cup, transparent_plastic_cups_original_position)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_flip_bottle_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <inverting a plastic bottle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-right:move_to(none, bottle), left:no_ops, 2-right:grasp(bottle), left:no_ops, 3-right:pick_up(bottle), left:no_ops, 4-right:turn(bottle, clockwise, horizontally_on_table), left:no_ops, 5-transfer(right, left, bottle), 6-right:no_ops, left:turn(bottle, clockwise, inverted), 7-right:no_ops, left:place(bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_flip_calendar_page_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <turning a page of a desk calendar> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, calendar), right:move_to(none, calendar), 2-left:grasp(top_page_of_the_calendar), right:grasp(top_page_of_the_calendar), 3-left:pick_up(top_page_of_the_calendar), right:pick_up(top_page_of_the_calendar), 4-left:turn(top_page_of_the_calendar, up, backside), right:turn(top_page_of_the_calendar, up, backside)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_fold_towel_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, left_cloth), right:move_to(none, right_cloth), 2-left:grasp(left_cloth), right:grasp(right_cloth), 3-left:fold(left_cloth, front), right:fold(right_cloth, front), 4-left:no_ops, right:grasp(right_cloth), 5-left:no_ops, right:fold(right_cloth, left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_fold_towel_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:move_to(none, left_cloth), right:move_to(none, right_cloth), 2-left:grasp(left_side_of_the_cloth), right:grasp(right_side_of_the_cloth), 3-left:fold(cloth, backside), right:fold(cloth, backside), 4-left:no_ops, right:grasp(right_cloth), 5-left:no_ops, right:=fold(right_cloth, left), 6-left:fold(cloth, right), right:fold(cloth, left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_get_cold_water_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <filling a mug with cold water from a dispenser> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:move_to(none, mug), right:no_ops, 2-left:grasp(mug), right:no_ops, 3-left:pick_up(mug), right:no_ops, 4-left:move_to(mug, below_the_cold_dispenser), right:move_to(none, dispenser), 5-left:hold(mug, dispenser), right:press(none, the_dispenser_switch), 6-left:place(below_the_cold_dispenser, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_get_hot_water_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <filling a mug with hot water from a dispenser> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:move_to(none, mug), right:no_ops, 2-left:grasp(mug), right:no_ops, 3-left:pick_up(mug), right:no_ops, 4-left:move_to(mug, under_the_hot_dispenser), right:move_to(none, dispenser), 5-left:hold(mug), right:press(none, the_dispenser_switch), 6-left:place(mug, dispenser), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_blue_shoe_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <interlocking two slippers> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-right:move_to(none, right_slipper), left:move_to(none, left_slipper), 2-right:grasp(right_slipper), left:grasp(left_slipper), 3-right:pick_up(right_slipper), left:pick_up(left_slipper), 4-right:insert(right_slipper, left_slipper), left:no_ops, 5-right:place(right_slipper, table), left:place(left_slipper, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_book_shelf_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing a book onto a bookshelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-right:move_to(none, blue_book), left:no_ops, 2-right:grasp(blue_book), left:no_ops, 3-right:pick_up(blue_book), left:no_ops, 4-transfer(right, left, book), 5-left:place(blue_book, bookshelf), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_pen_container_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing pens into a pen holder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-right:move_to(none, right_pen), left:move_to(none, left_pen), 2-right:grasp(right_pen), left:grasp(left_pen), 3-right:pick_up(right_pen), left:pick_up(left_pen), 4-right:place(right_pen, pen_holder), left:no_ops, 5-right:no_ops, left:place(left_pen, pen_holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <charge the phone with a charging cable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone), 2-left:grasp(charging_cable), right:grasp(phone), 3-left:pick_up(charging_cable), right:pick_up(phone), 4-left:insert(charging_cable, phone_charging_port), right:hold(phone), 5-left:no_ops, right:place(phone, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <connecting a charging cable to a phone and placing it on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone), 2-left:grasp(charging_cable), right:grasp(phone), 3-left:pick_up(charging_cable), right:pick_up(phone), 4-left:insert(charging_cable, phone_charging_port), right:hold(phone), 5-left:no_ops, right:place(phone, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <plugging a charging cable into a phone and placing it on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone), 2-left:grasp(charging_cable), right:grasp(phone), 3-left:pick_up(charging_cable), right:pick_up(phone), 4-left:insert(charging_cable, phone_charging_port), right:hold(phone), 5-left:no_ops, right:place(phone, table), 6-left:place(charging_cable, none), right:move_to(phone, charging_cable), 7-left:no_ops, right:place(phone, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_36_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <charge the phone with a charging cable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone), 2-left:grasp(charging_cable), right:grasp(phone), 3-left:pick_up(charging_cable), right:pick_up(phone), 4-left:insert(charging_cable, phone_charging_port), right:hold(phone), 5-left:no_ops, right:place(phone, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_41_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <plugging a charging cable into a phone> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone), 2-left:grasp(charging_cable), right:grasp(phone), 3-left:pick_up(charging_cable), right:pick_up(phone), 4-left:insert(charging_cable, phone_charging_port), right:hold(phone), 5-left:no_ops, right:place(phone, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_59_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <charge the phone with a charging cable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone), 2-left:grasp(charging_cable), right:grasp(phone), 3-left:pick_up(charging_cable), right:pick_up(phone), 4-left:insert(charging_cable, phone_charging_port), right:hold(phone), 5-left:no_ops, right:place(phone, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_insert_phone_2_episode_71_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <connecting a cable to a phone and placing it on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, charging_cable), right:move_to(none, phone), 2-left:grasp(charging_cable), right:grasp(phone), 3-left:pick_up(charging_cable), right:pick_up(phone), 4-left:insert(charging_cable, phone_charging_port), right:hold(phone), 5-left:no_ops, right:place(phone, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_open_laptop_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <opening a laptop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_laptop_lid), right:move_to(none, right_laptop_lid), 2-left:grasp(left_laptop_lid), right:grasp(right_laptop_lid), 3-left:turn(laptop, up, open), right:turn(laptop, up, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_open_laptop_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <opening a laptop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_laptop_lid), right:move_to(none, right_laptop_lid), 2-left:grasp(left_laptop_lid), right:grasp(right_laptop_lid), 3-left:turn(laptop, up, open), right:turn(laptop, up, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_open_laptop_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <opening a laptop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_laptop_lid), right:move_to(none, right_laptop_lid), 2-left:grasp(left_laptop_lid), right:grasp(right_laptop_lid), 3-left:turn(laptop, up, open), right:turn(laptop, up, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_open_laptop_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <opening a laptop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_laptop_lid), right:move_to(none, left_laptop_lid), 2-left:grasp(left_laptop_lid), right:grasp(right_laptop_lid), 3-left:turn(laptop, up, open), right:turn(laptop, up, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_durant_shirt_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a jersey twice> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey), 2-left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey), 3-left:fold(bottom_half_of_the_jersey, backward), right:fold(bottom_half_of_the_jersey, backward), 4-left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey), 5-left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey), 6-left:fold(folded_bottom_half_of_the_jersey, backward), right:fold(folded_bottom_half_of_the_jersey, backward)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_durant_shirt_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a jersey twice> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none, bottom_left_corner_of_the_jersey), right:move_to(none, bottom_right_corner_of_the_jersey), 2-left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey), 3-left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey), 4-left:fold(bottom_half_of_the_jersey, backward), right:fold(bottom_half_of_the_jersey, backward), 5-left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey), 6-left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey), 7-left:fold(folded_bottom_half_of_the_jersey, backward), right:fold(folded_bottom_half_of_the_jersey, backward)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_nvidia_shirt_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a t-shirt three times> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-left:move_to(none, bottom_left_corner_of_the_t-shirt), right:move_to(none, bottom_right_corner_of_the_t-shirt), 2-left:grasp(bottom_left_corner_of_the_t-shirt), right:grasp(bottom_right_corner_of_the_t-shirt), 3-left:pick_up(bottom_left_corner_of_the_t-shirt), right:pick_up(bottom_right_corner_of_the_t-shirt), 4-left:fold(bottom_half_of_the_t-shirt, backward), right:fold(bottom_half_of_the_t-shirt, backward), 5-left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt), 6-left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt), 7-left:fold(folded_bottom_half_of_the_t-shirt, backward), right:fold(folded_bottom_half_of_the_t-shirt, backward), 8-left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt), 9-left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt), 10-left:fold(folded_bottom_half_of_the_t-shirt, backward), right:fold(folded_bottom_half_of_the_t-shirt, backward)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_nvidia_shirt_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a t-shirt twice> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none, bottom_left_corner_of_the_t-shirt), right:move_to(none, bottom_right_corner_of_the_t-shirt), 2-left:grasp(bottom_left_corner_of_the_t-shirt), right:grasp(bottom_right_corner_of_the_t-shirt), 3-left:pick_up(bottom_left_corner_of_the_t-shirt), right:pick_up(bottom_right_corner_of_the_t-shirt), 4-left:fold(bottom_half_of_the_t-shirt, backward), right:fold(bottom_half_of_the_t-shirt, backward), 5-left:grasp(folded_bottom_half_of_the_t-shirt), right:grasp(folded_bottom_half_of_the_t-shirt), 6-left:pick_up(folded_bottom_half_of_the_t-shirt), right:pick_up(folded_bottom_half_of_the_t-shirt), 7-left:fold(folded_bottom_half_of_the_t-shirt, backward), right:fold(folded_bottom_half_of_the_t-shirt, backward)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_soccer_shirt_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a soccer jersey twice> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey), 2-left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey), 3-left:fold(bottom_half_of_the_jersey, backward), right:fold(bottom_half_of_the_jersey, backward), 4-left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey), 5-left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey), 6-left:fold(left_sleeve_of_the_jersey, right), right:fold(right_sleeve_of_the_jersey, left), 7-left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey), 8-left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey), 9-left:fold(folded_bottom_half_of_the_jersey, backward), right:fold(folded_bottom_half_of_the_jersey, backward)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_soccer_shirt_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a soccer jersey twice> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey), 2-left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey), 3-left:fold(bottom_half_of_the_jersey, backward), right:fold(bottom_half_of_the_jersey, backward), 4-left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey), 5-left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey), 6-left:fold(left_sleeve_of_the_jersey, right), right:fold(right_sleeve_of_the_jersey, left), 7-left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey), 8-left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey), 9-left:fold(folded_bottom_half_of_the_jersey, backward), right:fold(folded_bottom_half_of_the_jersey, backward)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_soccer_shirt_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a jersey twice> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey), 2-left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey), 3-left:fold(bottom_half_of_the_jersey, backward), right:fold(bottom_half_of_the_jersey, backward), 4-left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey), 5-left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey), 6-left:fold(left_sleeve_of_the_jersey, right), right:fold(right_sleeve_of_the_jersey, left), 7-left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey), 8-left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey), 9-left:fold(folded_bottom_half_of_the_jersey, backward), right:fold(folded_bottom_half_of_the_jersey, backward)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pack_soccer_shirt_episode_17_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a jersey twice> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:grasp(bottom_left_corner_of_the_jersey), right:grasp(bottom_right_corner_of_the_jersey), 2-left:pick_up(bottom_left_corner_of_the_jersey), right:pick_up(bottom_right_corner_of_the_jersey), 3-left:fold(bottom_half_of_the_jersey, backward), right:fold(bottom_half_of_the_jersey, backward), 4-left:grasp(left_sleeve_of_the_jersey), right:grasp(right_sleeve_of_the_jersey), 5-left:pick_up(left_sleeve_of_the_jersey), right:pick_up(right_sleeve_of_the_jersey), 6-left:fold(left_sleeve_of_the_jersey, right), right:fold(right_sleeve_of_the_jersey, left), 7-left:grasp(folded_bottom_half_of_the_jersey), right:grasp(folded_bottom_half_of_the_jersey), 8-left:pick_up(folded_bottom_half_of_the_jersey), right:pick_up(folded_bottom_half_of_the_jersey), 9-left:fold(folded_bottom_half_of_the_jersey, backward), right:fold(folded_bottom_half_of_the_jersey, backward)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing a napkin pack in a drawer and closing the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(drawer, napkin_pack), right:no_ops, 5-left:grasp(napkin_pack), right:no_ops, 6-left:pick_up(napkin_pack), right:no_ops, 7-left:place(napkin_pack, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing a pack of napkins in the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, napkin_pack), right:no_ops, 5-left:grasp(napkin_pack), right:no_ops, 6-left:pick_up(napkin_pack), right:no_ops, 7-left:place(napkin_pack, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing napkins in the second drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, napkin_pack), right:no_ops, 5-left:grasp(napkin_pack), right:no_ops, 6-left:pick_up(napkin_pack), right:no_ops, 7-left:place(napkin_pack, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing napkins in the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, napkin_pack), right:no_ops, 5-left:grasp(napkin_pack), right:no_ops, 6-left:pick_up(napkin_pack), right:no_ops, 7-left:place(napkin_pack, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_23_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing napkins in the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, napkin_pack), right:no_ops, 5-left:grasp(napkin_pack), right:no_ops, 6-left:pick_up(napkin_pack), right:no_ops, 7-left:grasp(open_drawer), right:no_ops, 8-left:place(napkin_pack, drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_24_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing a napkin pack in the second drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, napkin_pack), right:no_ops, 5-left:grasp(napkin_pack), right:no_ops, 6-left:pick_up(napkin_pack), right:no_ops, 7-left:place(napkin_pack, open_drawer), right:no_ops, 8-left:grasp(the_second_drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_second_layer_episode_25_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing a pack of napkins in the second drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, napkin_pack), right:no_ops, 5-left:grasp(napkin_pack), right:no_ops, 6-left:pick_up(napkin_pack), right:no_ops, 7-left:place(napkin_pack, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_paper_on_third_layer_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing a pack of napkins in the bottom drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_bottom_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_bottom_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_bottom_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, napkin_pack), right:no_ops, 5-left:grasp(napkin_pack), right:no_ops, 6-left:pick_up(napkin_pack), right:no_ops, 7-left:place(napkin_pack, open_drawer), right:no_ops, 8-left:grasp(drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pick_book_into_backpack_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing a book into a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:no_ops, right:move_to(none, book), 2-left:move_to(backpack), right:pick_up(book), 3-left:pull(backpack, open), right:place(book, backpack)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pick_power_bank_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing a power bank into a plastic bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-right:move_to(none, power_bank), left:move_to(plastic_bag), 2-right:grasp(power_bank), left:grasp(plastic_bag), 3-right:pick_up(power_bank), left:pick_up(plastic_bag), 4-right:place(power_bank, bag), left:no_ops, 5-right:place(power_bank, bag), left:pick_up(bag)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_pick_power_bank_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing a power bank into a bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-right:move_to(none, power_bank), left:move_to(none, plastic_bag), 2-right:grasp(power_bank), left:grasp(plastic_bag), 3-right:pick_up(power_bank), left:pick_up(plastic_bag), 4-left_no_ops, right:place(power_bank, plastic_bag)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_place_octopus_upright_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <righting an octopus plushie> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:no_ops, right:move_to(none, octopus), 2-left:no_ops, right:grasp(octopus), 3-left:no_ops, right:pick_up(octopus), 4-transfer(right, left, octopus), 5-left:turn(octopus, clockwise, inverted), right:no_ops, 6-left:place(octopus, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <dispensing sanitizer onto a tissue> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, top_of_paper_pump), right:move_to(none, top_of_sanitizer), 2-left:grasp(tissue), right:no_ops, 3-left:pick_up(tissue), right:grasp(sanitizer_pump), 4-left:move_to(tissue, under_dispenser), right:press(none, sanitizer_pump)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <dispensing sanitizer onto a tissue> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:no_ops, right:move_to(tissue), 2-left:no_ops, right:grasp(tissue), 3-left:no_ops, right:pick_up(tissue), 4-transfer(right, left, tissue), 5-left:no_ops, right:grasp(sanitizer_pump), 6-left:move_to(tissue, under_sanitizer), right:press(none, sanitizer_pump)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <dispensing sanitizer onto a tissue> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:no_ops, right:move_to(none, tissue), 2-left:no_ops, right:grasp(tissue), 3-left:no_ops, right:pick_up(tissue), 4-transfer(right, left, tissue), 5-left:move_to(tissue_box, under_sanitizer), right:grasp(sanitizer_pump), 6-left:hold(tissue), right:press(none, sanitizer_pump)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <dispensing sanitizer onto a tissue> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, tissue_box), right:no_ops, 2-left:grasp(tissue), right:move_to(none, sanitizer), 3-left:pick_up(tissue), right:grasp(sanitizer), 4-left:move_to(tissue_box, under_sanitizer), right:press(none, sanitizer_pump)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_15_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <dispensing sanitizer onto a tissue> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, tissue_box), right:move_to(none, sanitizer), 2-left:grasp(tissue), right:no_ops, 3-left:pick_up(tissue), right:grasp(sanitizer), 4-left:move_to(tissue, sanitizer_bottle), right:press(none, sanitizer_pump)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_press_alcohol_sanitizing_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <dispensing sanitizer onto a tissue> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-right:move_to(none, tissue_box), left:no_ops, 2-right:grasp(tissue), left:move_to(none, sanitizer_bottle), 3-right:pick_up(tissue), left:grasp(sanitizer_bottle), 4-right:move_to(tissue, sanitizer), left:press(none, sanitizer_pump)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_push_chair_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <pushing a chair under a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_chair), right:move_to(none, right_chair), 2-left:grasp(left_chair), right:grasp(right_chair), 3-left:push(chair, table), right:push(chair, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_push_chair_episode_15_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <pushing a chair under a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_chair), right:move_to(none, right_chair), 2-left:grasp(left_chair), right:grasp(right_chair), 3-left:push(chair, table), right:push(chair, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_push_container_back_to_chips_packaging_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <take the package back> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:move_to(none, green_chips_container), right:no_ops, 2-left:grasp(green_chips_container), right:no_ops, 3-left:pick_up(green_chips_container), right:move_to(plastic_chips_container), 4-left:no_ops, right:grasp(plastic_chips_container), 5-left:no_ops, right:push(plastic_chips_container, close), 6-left:place(chips_container, desk), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <packing a gray cloth into a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-right:move_to(none, backpack),  left:move_to(none, gray_cloth), 2-right:grasp(back_pack), left:grasp(gray_cloth), 3-right:turn(backpack, up, open), left:pick_up(gray_cloth), 4-right:no_ops, left:place(gray_cloth, inside_backpack)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <packing clothes into a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-right:move_to(none, backpack), left:move_to(none, gray_cloth), 2-right:grasp(backpack), left:grasp(gray_cloth), 3-right:turn(backpack, up, open), left:pick_up(gray_cloth), , 4-left:place(gray_cloth, inside_backpack), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <packing a gray jacket into a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-right:move_to(none, backpack), left:move_to(none, gray_cloth), 2-right:grasp(backpack), left:grasp(gray_cloth), 3-right:turn(backpack, up, open), left:pick_up(gray_jacket), 4-right:no_ops, left:place(gray_cloth, inside_backpack)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <packing clothes into a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-right:move_to(none, backpack), left:move_to(none, gray_cloth), 2-right:grasp(backpack), left:grasp(gray_cloth), 3-right:turn(backpack, up, open), left:pick_up(gray_clothing), 4-left:place(gray_clothing, inside_backpack), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <packing clothes into a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-right:move_to(none, backpack), left:move_to(none, gray_cloth), 2-right:grasp(backpack), left:grasp, (gray_cloth), 3-right:turn(backpack, up, open), left:pick_up(gray_cloth), 4-right:no_ops, left:place(gray_cloth, inside_backpack)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_mouse_on_pad_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <pick up the mouse and put it down> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-left:move_to(none, mouse), right:no_ops, 2-left:grasp(mouse), right:no_ops, 3-left:pick_up(mouse), right:no_ops, 4-left:move_to(mouse, right_table), right:no_ops, 5-left:place(mouse, right_table), right:no_ops, 6-left:no_ops, right:move_to(none, mouse), 7-left:no_ops, right:grasp(mouse), 8-left:no_ops, right:grasp(mouse)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_object_into_cabinet_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing a beverage can in a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:move_to(none, cabinet_handle), right:move_to(none, beverage_can), 2-left:grasp(cabinet_handle), right:grasp(beverage_can), 3-left:pull(cabinet_door, open), right:pick_up(beverage_can), 4-left:no_ops, right:place(beverage_can, cabinet), 5-left:grasp(cabint_handle), right:no_ops, 6-left:push(cabint_handle, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_object_into_cabinet_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing a beverage can in a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:move_to(none, cabinet_handle), right:move_to(none, beverage can), 2-left:grasp(cabint_handle), right:grasp(beverage_can), 3-left:pull(cabint_handle, open), right:pick_up(beverage_can), 4-left:no_ops, right:place(beverage_can, inside_cabinet), 5-left:grasp(cabinet), right:no_ops, 6-left:push(cabinet, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_object_into_cabinet_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing a beverage can in a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:move_to(cabinet_handle), right:move_to(beverage_can), 2-left:grasp(cabinet_handle), right:grasp(beverage_can), 3-left:pull(cabinet, open), right:pick_up(beverage_can), 4-left:no_ops, right:place(beverage_can, inside_cabinet), 5-left:grasp(cabinet_handle), right:no_ops, 6-left:push(cabinet, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing a box inside a microwave and closing the door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-right:move_to(none, microwave_door), left:no_ops, 2-right:grasp(microwave_door), left:no_ops, 3-right:pull(microwave_door, open), left:no_ops, 4-right:move_to(none, snack_box), left:no_ops, 5-right:grasp(snack_box), left:no_ops, 6-right:pick_up(snack_box), left:no_ops, 7-right:place(snack_box, inside_microwave), left:no_ops, 8-right:no_ops, left:move_to(none, microwave_door), 9-right:no_ops, left:grasp(microwave_door), 10-right:no_ops, left:push(microwave_door, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_snack_into_microwave_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing a box inside a microwave and closing the door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-right:move_to(none, microwave_door), left:no_ops, 2-right:grasp(microwave_door), left:no_ops, 3-right:pull(smicrowave_door, open), left:no_ops, 4-right:move_to(none, snack_box), left:no_ops, 5-right:grasp(snack_box), left:no_ops, 6-right:pick_up(snack_box), left:no_ops, 7-right:place(snack_box, inside_microwave), left:no_ops, 8-right:no_ops, left:move_to(microwave_door), 9-right:no_ops, left:grasp(microwave_door), 10-right:no_ops, left:push(microwave_door, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_spitballs_in_carton_2_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing paper balls into a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-left:move_to(none, left_paper_ball), right:move_to(none, right_paper_ball), 2-left:grasp(left_paper_ball), right:grasp(right_paper_ball), 3-left:pick_up(left_paper_ball), right:pick_up(right_paper_ball), 4-left:place(left_paper_ball, box), right:place(right_paper_ball, box), 5-left:no_ops, right:move_to(paper_ball, box), 6-left:no_ops, right:grasp(paper_ball), 7-left:no_ops, right:pick_up(paper_ball), 8-left:no_ops, right:palce(paper_ball, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_spitballs_in_carton_2_episode_37_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing paper balls into a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, left_paper_ball), right:move_to(none, right_paper_ball), 2-left:grasp(left_paper_ball), right:grasp(right_paper_ball), 3-left:pick_up(left_paper_ball), right:pcik_up(right_paper_ball), 4-left:place(left_paper_ball, box), right:place(right_paper_ball), 5-left:no_ops, right:move_to(none, paper_ball), 6-left:no_ops, right:grasp(paper_ball), 7-left:no_ops, right:pick_up(paper_ball), 8-left:no_ops, right:place(paper_ball, box), 9-left:no_ops, right:move_to(none, paper_ball)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_spitballs_in_carton_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing paper balls into a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-left:move_to(none, left_paper_ball), right:move_to(none, right_paper_ball), 2-left:grasp(left_paper_ball), right:grasp(right_paper_ball), 3-left:pick_up(left_paper_ball), right:pick_up(right_paper_ball), 4-left:place(left_paper_ball, box), right:place(right_paper_ball, box), 5-left:no_ops, right:move_to(none, paper_ball), 6-left:no_ops, right:grasp(paper_ball), 7-left:no_ops, right:pick_up(paper_ball), 8-left:no_ops, right:move_to(none, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_sponge_into_drawer_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing a sponge in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none, sponge), right:move_to(none, drawer), 2-left:grasp(sponge), right:grasp(drawer_handle), 3-left:pick_up(sponge), right:pull(drawer_handle, open), 4-left:place(sponge, open_drawer), right:no_ops, 5-left:no_ops, right:move_to(none, drawer_handle), 6-left:no_ops, right:grasp(drawer_handle), 7-left:no_ops, right:push(drawer_handle, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_sponge_into_drawer_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing a sponge in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none, sponge), right:move_to(none, drawer_handle), 2-left:grasp(sponge), right:grasp(drawer_handle), 3-left:pick_up(sponge), right:pull(drawer_handle, open), 4-left:place(sponge, open_drawer), right:no_ops, 5-left:no_ops, right:move_to(none, drawer_handle), 6-left:no_ops, right:grasp(drawer_handle), 7-left:no_ops, right:push(drawer_handle, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_put_sponge_into_drawer_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <putting a sponge in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none, sponge), right:move_to(none, drawer_handle), 2-left:grasp(sponge), right:grasp(drawer_handle), 3-left:pick_up(sponge), right:pull(drawer_handle, open), 4-left:place(sponge, open_drawer), right:no_ops, 5-left:no_ops, right:move_to(none, drawer), 6-left:no_ops, right:grasp(drawer_handle), 7-left:no_ops, right:push(drawer_handle, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_redirect_magiccube_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <manipulating a rubik's cube> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, rubik's_cube), right:move_to(none, rubik's_cube), 2-left:grasp(rubik's_cube), right:grasp(rubik's_cube), 3-left:turn(rubik's_cube, clockwise, 90_degrees), right:turn(rubik's_cube, clockwise, 90_degrees), 4-left:grasp(rubik's_cube), right:grasp(rubik's_cube), 5-left:turn(rubik's_cube, clockwise, 90_degrees), right:turn(rubik's_cube, clockwise, 90_degrees)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_backward_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a joystick to control a robot dog> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_backward_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a joystick to control a robot dog> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_backward_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a joystick to control a robot dog> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a robot dog with a controller> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a joystick to control a robot dog> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_15_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a joystick to control a robot dog> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_16_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a robot dog with a controller> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a robot dog with a remote control> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_30_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a joystick to control a robot dog> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_37_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a joystick to control a robot dog> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_2_episode_49_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a robot dog with a controller> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a joystick to control a robot dog> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_robot_dog_forward_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <operating a joystick to control a robot dog> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-left:move_to(none, left_joystick), right:move_to(none, right_joystick), 2-left:grasp(left_joystick), right:grasp(right_joystick), 3-left:turn(left_joystick, forward, none), right:press(none, right_joystick)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unpacking gray clothes from a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-right:move_to(none, backpack), left:no_ops, 2-left:move_to(none, gray_clothing), right:grasp(backpack), 3-left:grasp(gray_clothes), right:pull(backpack, up), 4-left:pick_up(gray_clothes), right:no_ops, 5-left:place(gray_clothes, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unpacking clothing from a bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-right:move_to(none, backpack), left:no_ops, 2-left:move_to(none, gray_clothing), right:grasp(backpack), 3-left:grasp(gray_clothes), right:pull(backpack, up), 4-left:pick_up(gray_clothes), right:no_ops, 5-left:place(gray_clothes, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <retrieving clothes from a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-right:move_to(none, backpack), left:no_ops, 2-left:move_to(none, gray_clothing), right:grasp(backpack), 3-left:grasp(gray_clothes), right:pull(backpack, up), 4-left:pick_up(gray_clothe), right:no_ops, 5-left:place(gray_clothes, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <retrieving clothes from a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-right:move_to(none, backpack), left:no_ops, 2-left:move_to(none, gray_cloth), right:grasp(backpack), 3-left:pick_up(gray_clothes), right:pull(backpack, up), 4-left:palce(gray_clothes, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_clothes_into_backpack_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <removing clothes from a backpack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-right:move_to(none, backpack), left:no_ops, 2-left:move_to(none, gray_clothing), right:grasp(backpack), 3-left:grasp(gray_clothes), right:pull(backpack, up), 4-left:palce(gray_clothes, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_off_lid_of_ice_box_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing an ice cube tray and its lid on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:no_ops, right:move_to(none, tray), 2-left:no_ops, right:grasp(tray), 3-left:no_ops, right:pick_up(tray), 4-transfer(right, left, tray), 5-left:no_ops, right:grasp(tray_lid), 6-left:no_ops, right:pick_up(tray_lid), 7-left:place(tray, table), right:place(tray_lid, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_off_lid_of_ice_box_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing an ice cube tray and its lid on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-right:move_to(none, tray), left:no_ops, 2-right:grasp(tray), left:no_ops, 3-right:pick_up(tray), left:no_ops, 4-transfer(right, left, tray), 5-left:no_ops, right:grasp(lid), 6-left:no_ops, right:pick_up(lid), 7-left:no_ops, right:place(lid, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_chips_from_packaging_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <retrieving a chips container from a tub> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, chips_container), right:no_ops, 2-left:grasp(chips_container), right:move_to(none, transparent_container), 3-left:pick_up(chips_container), right:grasp(transparent_container), 4-left:no_ops, right:push(transparent_container, close), 5-left:place(chips_container, desk), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <retrieving an object from a bag and placing it on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, bag), right:no_ops, 2-left:grasp(bag), right:move_to(bag), 3-right:grasp(glasses_case), left:pick_up(bag), 4-right:pick_up(glasses_case), left:no_ops, 5-right:place(glasses_case, table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_spary_lid_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <removing a lid from a spray bottle and placing it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, spray_bottle), right:no_ops, 2-left:grasp(spray_bottle), right:move_to(none, lid), 3-left:pick_up(spray_bottle), right:grasp(bottle_lid), 4-left:no_ops, right:pick_up(lid), 5-left:place(spray_bottle, table), right:place(lid, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_tissue_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <taking a tissue from a packet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, tissue_packet), right:no_ops, 2-left:grasp(tissue_packet), right:move_to(none, tissue), 3-left:pick_up(tissue_packet), right:grasp(tissue), 4-left:no_ops, right:pick_up(tissue), 5-left:place(tissue_packet, table), right:place(tissue, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_tissue_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <taking a tissue from a packet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, tissue_packet), right:no_ops, 2-left:grasp(tissue_packet), right:move_to(none, tissue), 3-left:pick_up(tissue_packet), right:grasp(tissue), 4-left:no_ops, right:pick_up(tissue), 5-left:place(tissue_packet, table), right:place(tissue, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_take_out_tissue_episode_17_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <taking a tissue from a packet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, tissue_packet), right:no_ops, 2-left:grasp(tissue_packet), right:move_to(none, tissue), 3-left:pick_up(tissue_packet), right:grasp(tissue), 4-left:hold(tissue), right:pick_up(tissue), 5-left:place(tissue_packet, table), right:place(tissue, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_takeout_insert_usb_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <remove the usb from the device on the right and plug it into the device on the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, the_right_device), right:move_to(none, the_right_device), 2-left:grasp(the_right_device), right:grasp(usb_drive), 3-left:press(none, the_right_device), right:pick_up(usb_drive), 4-left:no_ops, right:move_to(usb_drive, the_left_device), 5-left:no_ops, right:insert(usb_drive, the_left_device)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_takeout_insert_usb_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <remove the usb from the device on the right and plug it into the device on the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, the_right_device), right:move_to(none, the_right_device), 2-left:grasp(the_right_device), right:grasp(usb_drive), 3-left:press(none, the_right_device), right:pick_up(usb_drive), 4-left:no_ops, right:move_to(usb_drive, the_left_device), 5-left:no_ops, right:insert(usb_drive, the_left_device)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_takeout_insert_usb_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <remove the usb from the device on the right and plug it into the device on the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, the_right_device), right:move_to(none, the_right_device), 2-left:grasp(the_right_device), right:grasp(usb_drive), 3-left:press(none, the_right_device), right:pick_up(usb_drive), 4-left:no_ops, right:move_to(usb_drive, the_left_device), 5-left:no_ops, right:insert(usb_drive, the_left_device)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tape_on_second_layer_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing tape in the second drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, tape), right:no_ops, 5-left:grasp(tape), right:no_ops, 6-left:pick_up(tape), right:no_ops, 7-left:place(tape, open_drawer), right:no_ops, 8-left:grasp(the_second_drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tape_on_second_layer_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing tape in the second drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, tape), right:no_ops, 5-left:grasp(tape), right:no_ops, 6-left:pick_up(tape), right:no_ops, 7-left:place(tape, open_drawer), right:no_ops, 8-left:grasp(the_second_drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tape_on_second_layer_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <placing tape in the second drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-left:move_to(none, the_second_drawer), right:move_to(none, the_top_of_the_drawer), 2-left:grasp(the_second_drawer), right:grasp(the_top_of_the_drawer), 3-left:pull(the_second_drawer, open), right:press(none, the_top_of_the_drawer), 4-left:move_to(none, tape), right:no_ops, 5-left:grasp(tape), right:no_ops, 6-left:pick_up(tape), right:no_ops, 7-left:place(tape, open_drawer), right:no_ops, 8-left:grasp(the_second_drawer), right:no_ops, 9-left:push(the_second_drawer, close), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tian_fold_cloth_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a t-shirt> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none, bottom_edge_of_the_t-shirt), right:move_to(none, bottom_edge_of_the_t-shirt), 2-left:grasp(bottom_edge_of_the_t-shirt), right:grasp(bottom_edge_of_the_t-shirt), 3-left:fold(bottom_half_of_the_t-shirt, backward), right:fold(bottom_half_of_the_t-shirt, backward), 4-left:move_to(none, top_left_corner_of_the_folded_portion), right:move_to(none, top_right_corner_of_the_folded_portion), 5-left:grasp(top_edge_of_the_folded_section), right:grasp(top_edge_of_the_folded_section), 6-left:pick_up(top_edge_of_the_folded_section), right:pick_up(top_edge_of_the_folded_section), 7-left:fold(top_half_of_the_t-shirt, backward), right:fold(top_half_of_the_t-shirt, backward)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tian_fold_cloth_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <folding a t-shirt> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none, bottom_edge_of_the_t-shirt), right:move_to(none, bottom_edge_of_the_t-shirt), 2-left:grasp(bottom_edge_of_the_t-shirt), right:grasp(bottom_edge_of_the_t-shirt), 3-left:fold(bottom_half_of_the_t-shirt, backward), right:fold(bottom_half_of_the_t-shirt, backward), 4-left:move_to(none, top_left_corner_of_the_folded_portion), right:move_to(none, top_right_corner_of_the_folded_portion), 5-left:grasp(top_edge_of_the_folded_section), right:grasp(top_edge_of_the_folded_section), 6-left:pick_up(top_edge_of_the_folded_section), right:pick_up(top_edge_of_the_folded_section), 7-left:fold(top_half_of_the_t-shirt, backward), right:fold(top_half_of_the_t-shirt, backward)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tian_open_box_pick_bottle_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <take the lid off the container and place the bottle inside on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-right:move_to(none, lid_of_the_container), left:no_ops, 2-right:grasp(lid), left:no_ops, 3-right:pick_up(lid), left:no_ops, 4-right:place(lid_of_the_container, table), left:move_to(none, bottle), 5-right:no_ops, left:grasp(bottle), 6-left:pick_up(bottle), right:no_ops, 7-left:place(bottle, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tian_open_box_pick_bottle_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <take the lid off the container and place the bottle inside on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-left:move_to(none, left, _container_lid), right:right_move_to(none, container_lid), 2-left:grasp(left_container_lid), right:grasp(right_container_lid), 3-left:pick_up(left_container_lid), right:pick_up(right_container_lid), 4-left:place(container_lid, table), right:place(container_lid, table), 5-left:no_ops, right:move_to(container_lid, table), 6-left:no_ops, right:place(container_lid, table), 7-left:no_ops, right:move_to(none, bottle), 8-left:no_ops, right:grasp(bottle), 9-left:no_ops, right:pick_up(bottle), 10-left:no_ops, right:place(bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_tian_open_laptop_press_keyboard_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <open the laptop lid and enter the password> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, laptop), right:no_ops, 2-right:no_ops, left:grasp(laptop_lid), 3-right:move_to(laptop_keyboard), left:turn(laptop, up, ope), 4-right:move_to(none, keyboard), left:no_ops, 5-right:press(none, keyboard), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_charger_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unplugging a charger and placing it next to the socket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, socket), right:move_to(none, charger), 2-right:grasp(charger), left:grasp(socket), 3-right:pullout(charger, table), left:press(none, socket), 4-right:place(charger, table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_charger_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unplugging a charger and placing it next to the socket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, socket), right:move_to(none, charger), 2-right:grasp(charger), left:grasp(socket), 3-right:pullout(charger, socket), left:press(none, socket), 4-right:move_to(charger, table), left:no_ops, 5-right:place(charger, table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_charger_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unplugging a charger from a power strip> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, socket), right:move_to(none, charger), 2-right:grasp(charger), left:grasp(socket), 3-right:pick_up(charger), left:press(none, socket), 4-right:place(charger, table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_data_cable_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unplug the data cable from the hard drive> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, hard_drive), right:move_to(none, hard_drive), 2-left:grasp(hard_drive), right:grasp(data_cable), 3-left:pick_up(hard_drive), right:pullout(data_cable, hard_drive), 4-right:place(data_cable, table), left:place(hard_drive, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_data_cable_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unplugging a data cable from a hard drive> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, hard_drive), right:move_to(none, data_cable), 2-left:grasp(hard_drive), right:grasp(data_cable), 3-left:pick_up(hard_drive), right:pullout(data_cable, hard_drive), 4-left:place(hard_drive, table), right:place(data_cable, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_data_cable_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unplugging a data cable from a hard drive> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, hard_drive), right:move_to(none, data_cable), 2-left:grasp(hard_drive), right:grasp(data_cable), 3-left:pick_up(hard_drive), right:pullout(data_cable, hard_drive), 4-left:place(hard_drive, table), right:place(data_cable, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_data_cable_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unplugging a data cable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, hard_drive), right:move_to(none, data_cable), 2-left:grasp(hard_drive), right:grasp(data_cable), 3-left:pick_up(hard_drive), right:pullout(data_cable, hard_drive), 4-left:place(hrad_drive, table), right:place(data_cable, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unplug_data_cable_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unplugging a data cable from a hard drive> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, hard_drive), right:move_to(none, data_cable), 2-left:grasp(hard_drive), right:grasp(data_cable), 3-left:pick_up(hard_drive), right:pullout(data_cable, hard_drive), 4-left:place(hard_drive, table), right:place(data_cable, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unscrew_cap_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unscrewing a bottle cap> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, bottle), right:move_to(none, bottle_cap), 2-left:grasp(bottle), right:grasp(bottle_cap), 3-left:pick_up(bottle), right:turn(bottle_cap, anticlockwise, open), 4-left:place(bottle, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unscrew_cap_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <opening a water bottle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, bottle), right:move_to(none, bottle_cap), 2-left:grasp(bottle), right:grasp(bottle_cap), 3-left:pick_up(bottle), right:turn(bottle_cap, anticlockwise, open), 4-left:place(bottle, table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unwind_charging_cable_episode_17_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <straighten out a charging cable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, left_charging_cable), right:move_to(none, right_charging_cable), 2-left:grasp(the_left_side_of_the_charging_cable), right:grasp(the_right_side_of_the_charging_cable), 3-left:pick_up(the_left_side_of_the_charging_cable), right:pick_up(the_right_side_of_the_charging_cable), 4-left:pull(charging_cable, straight), right:pull(charging_cable, straight), 5-left:place(charging_cable, table), right:place(none, charging_cable, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_unzip_the_bag_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <opening a zippered file bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left:move_to(none, bag_zipper), right:move_to(none, bag), 2-left:garsp(bag_zipper), right:grasp(bag), 3-left:pull(zipper, down) right:pick_up(bag), 4-left:no_ops, right:place(bag, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_up_down_cube_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <flipping a rubik's cube> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, rubik's_cube), right:no_ops, 2-left:grasp(rubik's_cube), right:no_ops, 3-left:pick_up(rubik's_cube), right:no_ops, 4-move_to(left, right, rubik's_cube), 5-right:place(rubik's_cube, table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_cup_1_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <filling a mug with water and pouring it into the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-right:move_to(none, mug), left:no_ops, 2-right:grasp(mug), left:move_to(none, faucet_switch), 3-right:pick_up(mug), left:ngrasp(faucet_switch), 4-left:press(none, faucet_switch), right:move_to(mug, under_faucet), 5-left:no_ops, right:pour(mug, water, sink), 6-right:place(mug, table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_cup_2_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <filling a mug with water and pouring it into the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-right:move_to(none, mug), left:no_ops, 2-right:grasp(mug), left:move_to(none, faucet_switch), 3-right:pick_up(mug), left:grasp(faucet_switch), 4-right:move_to(mug, under_faucet), left:press(none, faucet_switch), 5-right:pour(mug, water, sink), left:no_ops, 6-right:place(mug, table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_cup_2_episode_19_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <pouring water from a faucet into a mug and then emptying the mug into the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-right:move_to(none, mug), left:no_ops, 2-right:grasp(mug), left:move_to(none, faucet_switch), 3-right:pick_up(mug), left:grasp(faucet_switch), 4-right:move_to(mug, under_faucet), left:press(none, faucet_switch), 5-right:pour(mug, water, sink), left:no_ops, 6-right:place(mug, table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_cup_5_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <filling a mug with water and pouring it into the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-right:move_to(none, mug), left:no_ops, 2-right:grasp(mug), left:move_to(none, faucet_switch), 3-right:pick_up(mug), left:grasp(faucet_switch), 4-right:move_to(mug, under_faucet), left:press(none, faucet_switch), 5-right:pour(mug, water, sink), left:no_ops, 6-right:place(mug, table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_cup_6_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <filling a mug with water and emptying it into the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-left:no_ops, right:move_to(none, mug), 2-left:move_to(none, faucet_switch), right:grasp(mug), 3-left:grasp(faucet_switch), right:pick_up(mug), 4-left:press(none, faucet_switch), right:move_to(mug, under_faucet), 5-left:no_ops, right:pour(mug, water, sink), 6-left:no_ops, right:place(mug, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wash_water_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <filling a mug with water and pouring it into the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-right:move_to(none, mug), left:no_ops, 2-right:grasp(mug), left:move_to(none, faucet_switch), 3-right:pick_up(mug), left:grasp(faucet_switch), 4-right:move_to(mug, under_faucet), left:press(none, faucet_switch), 5-right:pour(mug, water, sink), left:no_ops, 6-right:move_to(mug, sink), left:no_ops, 7-right:place(mug, table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wipe_table_l2r_avoid_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <wiping a table with a sponge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-left:move_to(none, sponge), right:no_ops, 2-left:grasp(sponge), right:no_ops, 3-left:wipe(sponge, water, left_table), right:no_ops, 4-left:place(sponge, middle_table), right :no_ops, 5-right:move_to(none, sponge), left:no_ops, 6-right:grasp(sponge), left:no_ops, 7-right:wipe(sponge, water, right_table), left:no_ops, 8-right:place(sponge, next_bottle_on_table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wipe_table_l2r_avoid_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <wiping a table with a sponge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-left:move_to(none, sponge), right:no_ops, 2-left:grasp(sponge), right:no_ops, 3-left:wipe(sponge, water, left_table), right:no_ops, 4-left:place(sponge, middle_table), right :no_ops, 5-right:move_to(none, sponge), left:no_ops, 6-right:grasp(sponge), left:no_ops, 7-right:wipe(sponge, water, right_table), left:no_ops, 8-right:place(sponge, next_bottle_on_table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_wipe_table_r2l_avoid_episode_17_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <wiping a table with a sponge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-righ :move_to(none, sponge), leftright:no_ops, 2-right:grasp(sponge), left:no_ops, 3-right:wipe(sponge, water, right_table), left:no_ops, 4-right:place(sponge, middle_table), left:no_ops, 5-left:move_to(none, sponge), right:no_ops, 6-left:grasp(sponge), right:no_ops, 7-left:wipe(sponge, water, left_table), right:no_ops, 8-left:place(sponge, next_table_on_table), right :no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a zipper on a plastic file bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, document_bag), right:move_to(none, document_pouch_zipper), 2-left:grasp(document_bag), right:grasp(document_pouch_zipper), 3-left:pick_up(document_bag), right:pick_up(document_pouch_zipper), 4-left:hold(document_bag), right:pull(document_pouch_zipper, syate_of_close), 5-left:place(document_bag, table), right:place(document_pouch_zipper, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a zippered bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, document_bag), right:move_to(none, document_pouch_zipper), 2-left:grasp(document_bag), right:grasp(document_pouch_zipper), 3-left:pick_up(document_bag), right:pick_up(document_pouch_zipper), 4-left:hold(document_bag), right:pull(document_pouch_zipper, syate_of_close), 5-left:place(document_bag, table), right:place(document_pouch_zipper, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a zippered bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, document_bag), right:move_to(none, document_pouch_zipper), 2-left:grasp(document_bag), right:grasp(document_pouch_zipper), 3-left:pick_up(document_bag), right:pick_up(document_pouch_zipper), 4-left:hold(document_bag), right:pull(document_pouch_zipper, syate_of_close), 5-left:place(document_bag, table), right:place(document_pouch_zipper, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a zipper on a plastic file bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, document_bag), right:move_to(none, document_pouch_zipper), 2-left:grasp(document_bag), right:grasp(document_pouch_zipper), 3-left:pick_up(document_bag), right:pick_up(document_pouch_zipper), 4-left:hold(document_bag), right:pull(document_pouch_zipper, syate_of_close), 5-left:place(document_bag, table), right:place(document_pouch_zipper, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a zippered bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, document_bag), right:move_to(none, document_pouch_zipper), 2-left:grasp(document_bag), right:grasp(document_pouch_zipper), 3-left:pick_up(document_bag), right:pick_up(document_pouch_zipper), 4-left:hold(document_bag), right:pull(document_pouch_zipper, syate_of_close), 5-left:place(document_bag, table), right:place(document_pouch_zipper, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_16_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a zippered bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, document_bag), right:move_to(none, document_pouch_zipper), 2-left:grasp(document_bag), right:grasp(document_pouch_zipper, 3-left:pick_up(document_bag), right:pick_up(document_pouch_zipper), 4-left:hold(document_bag), right:pull(document_pouch_zipper, syate_of_close), 5-left:place(document_bag, table), right:place(document_pouch_zipper, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/RDT-FT_imgs_1_zip_the_bag_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <closing a zipper on a plastic file bag> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-left:move_to(none, document_bag), right:move_to(none, document_pouch_zipper), 2-left:grasp(document_bag), right:grasp(document_pouch_zipper), 3-left:pick_up(document_bag), right:pick_up(document_pouch_zipper), 4-left:hold(document_bag), right:pull(document_pouch_zipper, syate_of_close), 5-left:place(document_bag, table), right:place(document_pouch_zipper, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/dual_arm/images/rt_frames_success_rtx_frames_success_2_3_utokyo_xarm_bimanual_converted_externally_to_rlds#episode_16_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "dual_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <unfolding a wrinkled towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-left: move_to(none, left_wrinkled_towel), right: move_to(none, right_wrinkled_towel), 2-left: grasp(left_edge_of_towel), right: grasp(right_edge_of_towel), 3-left: pick_up(left_edge_of_towel), right: pick_up(right_edge_of_towel), 4-left: unfold(left_edge_of_towel, left_towe), right: unfold(right_edge_of_towel, right_towe)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  }
+]
\ No newline at end of file
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+  {
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+    "actions_list": [
+      "grasp(handle)",
+      "pull(handle)"
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+  },
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+      "grasp(puzzle_piece)",
+      "pick_up(puzzle_piece)",
+      "place(puzzle_piece, hand)"
+    ],
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+      "grasp(puzzle_piece)": [
+        "pick_up(puzzle_piece)"
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+        "place(puzzle_piece, hand)"
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+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_52529",
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+      "grasp(sock)",
+      "pick_up(sock)",
+      "place(sock, clothesline)"
+    ],
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+      "grasp(sock)": [
+        "pick_up(sock)"
+      ],
+      "pick_up(sock)": [
+        "place(sock, clothesline)"
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+      "place(sock, clothesline)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_52529.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_127785",
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+      "grasp(dried_chili_pepper)",
+      "pick_up(dried_chili_pepper)",
+      "place(dried_chili_pepper, on_the_newspaper_on_the_floor)"
+    ],
+    "gt_dag": {
+      "grasp(dried_chili_pepper)": [
+        "pick_up(dried_chili_pepper)"
+      ],
+      "pick_up(dried_chili_pepper)": [
+        "place(dried_chili_pepper, on_the_newspaper_on_the_floor)"
+      ],
+      "place(dried_chili_pepper, on_the_newspaper_on_the_floor)": []
+    },
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+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_165299",
+    "actions_list": [
+      "grasp(wood)",
+      "pick_up(wood)",
+      "move_to(wood, shelf)",
+      "place(wood, shelf)"
+    ],
+    "gt_dag": {
+      "grasp(wood)": [
+        "pick_up(wood)"
+      ],
+      "pick_up(wood)": [
+        "move_to(wood, shelf)"
+      ],
+      "move_to(wood, shelf)": [
+        "place(wood, shelf)"
+      ],
+      "place(wood, shelf)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_165299.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_287167",
+    "actions_list": [
+      "grasp(container_with_grains)",
+      "pick_up(container_with_grains)",
+      "pour(container, grains, basket)",
+      "place(container, none)"
+    ],
+    "gt_dag": {
+      "grasp(container_with_grains)": [
+        "pick_up(container_with_grains)"
+      ],
+      "pick_up(container_with_grains)": [
+        "pour(container, grains, basket)"
+      ],
+      "pour(container, grains, basket)": [
+        "place(container, none)"
+      ],
+      "place(container, none)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_287167.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_165594",
+    "actions_list": [
+      "grasp(nail_puller_pliers)",
+      "insert(nail_puller_pliers, hole_of_the_nail)",
+      "turn(nail_puller_pliers, anticlockwise, middle_of_wood)",
+      "pull(nail, hole_of_the_nail)"
+    ],
+    "gt_dag": {
+      "grasp(nail_puller_pliers)": [
+        "insert(nail_puller_pliers, hole_of_the_nail)"
+      ],
+      "insert(nail_puller_pliers, hole_of_the_nail)": [
+        "turn(nail_puller_pliers, anticlockwise, middle_of_wood)"
+      ],
+      "turn(nail_puller_pliers, anticlockwise, middle_of_wood)": [
+        "pull(nail, hole_of_the_nail)"
+      ],
+      "pull(nail, hole_of_the_nail)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_165594.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_40824",
+    "actions_list": [
+      "hold_on(string)",
+      "move_to(string, cable)"
+    ],
+    "gt_dag": {
+      "hold_on(string)": [
+        "move_to(string, cable)"
+      ],
+      "move_to(string, cable)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_40824.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_957",
+    "actions_list": [
+      "move_to(none, bottom_of_the_aluminum_tin)",
+      "grasp(bottom_of_the_aluminum_tin)",
+      "pick_up(aluminum_tin)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottom_of_the_aluminum_tin)": [
+        "grasp(bottom_of_the_aluminum_tin)"
+      ],
+      "grasp(bottom_of_the_aluminum_tin)": [
+        "pick_up(aluminum_tin)"
+      ],
+      "pick_up(aluminum_tin)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_957.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_111941",
+    "actions_list": [
+      "grasp(dough_pieces)",
+      "pick_up(dough_pieces)",
+      "place(dough_pieces, tray)"
+    ],
+    "gt_dag": {
+      "grasp(dough_pieces)": [
+        "pick_up(dough_pieces)"
+      ],
+      "pick_up(dough_pieces)": [
+        "place(dough_pieces, tray)"
+      ],
+      "place(dough_pieces, tray)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_111941.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_162883",
+    "actions_list": [
+      "grasp(puzzle_piece)",
+      "pick_up(puzzle_piece)",
+      "place(puzzle_piece, correct_position)"
+    ],
+    "gt_dag": {
+      "grasp(puzzle_piece)": [
+        "pick_up(puzzle_piece)"
+      ],
+      "pick_up(puzzle_piece)": [
+        "place(puzzle_piece, correct_position)"
+      ],
+      "place(puzzle_piece, correct_position)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_162883.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_268191",
+    "actions_list": [
+      "grasp(handle_of_the_wood_cutting_machine)",
+      "pick_up(piece_of_wood)",
+      "turn(piece_of_wood, anticlockwise, left_hand)"
+    ],
+    "gt_dag": {
+      "grasp(handle_of_the_wood_cutting_machine)": [
+        "pick_up(piece_of_wood)"
+      ],
+      "pick_up(piece_of_wood)": [
+        "turn(piece_of_wood, anticlockwise, left_hand)"
+      ],
+      "turn(piece_of_wood, anticlockwise, left_hand)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_268191.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_102863",
+    "actions_list": [
+      "insert(thumb, corner_of_the_zip-lock_bag)",
+      "pull(zipper, right_side_of_bag)"
+    ],
+    "gt_dag": {
+      "insert(thumb, corner_of_the_zip-lock_bag)": [
+        "pull(zipper, right_side_of_bag)"
+      ],
+      "pull(zipper, right_side_of_bag)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_102863.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_265119",
+    "actions_list": [
+      "grasp(piece_of_cloth)",
+      "pick_up(piece_of_cloth)",
+      "wipe(piece_of_cloth, book, left_hand)"
+    ],
+    "gt_dag": {
+      "grasp(piece_of_cloth)": [
+        "pick_up(piece_of_cloth)"
+      ],
+      "pick_up(piece_of_cloth)": [
+        "wipe(piece_of_cloth, book, left_hand)"
+      ],
+      "wipe(piece_of_cloth, book, left_hand)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_265119.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_48140",
+    "actions_list": [
+      "grasp(F-clamp)",
+      "pick_up(F-clamp)",
+      "place(F-clamp, table)"
+    ],
+    "gt_dag": {
+      "grasp(F-clamp)": [
+        "pick_up(F-clamp)"
+      ],
+      "pick_up(F-clamp)": [
+        "place(F-clamp, table)"
+      ],
+      "place(F-clamp, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_48140.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_94386",
+    "actions_list": [
+      "grasp(gear_lever)",
+      "push(gear_lever, upper_the_gear_lever)"
+    ],
+    "gt_dag": {
+      "grasp(gear_lever)": [
+        "push(gear_lever, upper_the_gear_lever)"
+      ],
+      "push(gear_lever, upper_the_gear_lever)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_94386.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_225805",
+    "actions_list": [
+      "grasp(flower_stalks)",
+      "pick_up(flower_stalks)",
+      "place(flower_stalks, sack)"
+    ],
+    "gt_dag": {
+      "grasp(flower_stalks)": [
+        "pick_up(flower_stalks)"
+      ],
+      "pick_up(flower_stalks)": [
+        "place(flower_stalks, sack)"
+      ],
+      "place(flower_stalks, sack)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_225805.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_36356",
+    "actions_list": [
+      "grasp(plate)",
+      "pick_up(plate)",
+      "place(plate, rack)"
+    ],
+    "gt_dag": {
+      "grasp(plate)": [],
+      "pick_up(plate)": [],
+      "place(plate, rack)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_36356.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_201177",
+    "actions_list": [
+      "grasp(digging_hoe)",
+      "pick_up(digging_hoe)",
+      "scoop(digging_hoe, sand, ground)"
+    ],
+    "gt_dag": {
+      "grasp(digging_hoe)": [
+        "pick_up(digging_hoe)"
+      ],
+      "pick_up(digging_hoe)": [
+        "scoop(digging_hoe, sand, ground)"
+      ],
+      "scoop(digging_hoe, sand, ground)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_201177.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_194875",
+    "actions_list": [
+      "grasp(bricks)",
+      "pick_up(bricks)",
+      "place(bricks, right_place)"
+    ],
+    "gt_dag": {
+      "grasp(bricks)": [
+        "pick_up(bricks)"
+      ],
+      "pick_up(bricks)": [
+        "place(bricks, right_place)"
+      ],
+      "place(bricks, right_place)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_194875.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_90903",
+    "actions_list": [
+      "grasp(faucet)",
+      "turn(faucet, anticlockwise, middle_of_sink)"
+    ],
+    "gt_dag": {
+      "grasp(faucet)": [
+        "turn(faucet, anticlockwise, middle_of_sink)"
+      ],
+      "turn(faucet, anticlockwise, middle_of_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_90903.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_29391",
+    "actions_list": [
+      "grasp(stone)",
+      "hold_on(stone)"
+    ],
+    "gt_dag": {
+      "grasp(stone)": [
+        "hold_on(stone)"
+      ],
+      "hold_on(stone)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_29391.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_123610",
+    "actions_list": [
+      "grasp(plastic_part_of_solar_robot)",
+      "pick up(plastic_part_of_solar_robot)",
+      "place(plastic_part_of_solar_robot, table)"
+    ],
+    "gt_dag": {
+      "grasp(plastic_part_of_solar_robot)": [
+        "pick up(plastic_part_of_solar_robot)"
+      ],
+      "pick up(plastic_part_of_solar_robot)": [
+        "place(plastic_part_of_solar_robot, table)"
+      ],
+      "place(plastic_part_of_solar_robot, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_123610.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_297471",
+    "actions_list": [
+      "grasp(twig)",
+      "pick_up(twig)",
+      "place(twig,ground)"
+    ],
+    "gt_dag": {
+      "grasp(twig)": [
+        "pick_up(twig)"
+      ],
+      "pick_up(twig)": [
+        "place(twig,ground)"
+      ],
+      "place(twig,ground)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_297471.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_226296",
+    "actions_list": [
+      "both: grasp(flowers)",
+      "both: pick_up(flowers)",
+      "both: hold_on(flowers)"
+    ],
+    "gt_dag": {
+      "both: grasp(flowers)": [
+        "both: pick_up(flowers)"
+      ],
+      "both: pick_up(flowers)": [
+        "both: hold_on(flowers)"
+      ],
+      "both: hold_on(flowers)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_226296.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_57444",
+    "actions_list": [
+      "grasp(tomato)",
+      "pick_up(tomato)",
+      "place(tomato, plastic_colander)"
+    ],
+    "gt_dag": {
+      "grasp(tomato)": [
+        "pick_up(tomato)"
+      ],
+      "pick_up(tomato)": [
+        "place(tomato, plastic_colander)"
+      ],
+      "place(tomato, plastic_colander)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_57444.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_225355",
+    "actions_list": [
+      "move_to(none, key)",
+      "press(key)",
+      "move_away_from(none, key)"
+    ],
+    "gt_dag": {
+      "move_to(none, key)": [
+        "press(key)"
+      ],
+      "press(key)": [
+        "move_away_from(none, key)"
+      ],
+      "move_away_from(none, key)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_225355.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_3276",
+    "actions_list": [
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, mushroom)",
+      "pour(spoon, mashed_potatoes, mushroom)"
+    ],
+    "gt_dag": {
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, mushroom)"
+      ],
+      "move_to(spoon, mushroom)": [
+        "pour(spoon, mashed_potatoes, mushroom)"
+      ],
+      "pour(spoon, mashed_potatoes, mushroom)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_3276.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_221327",
+    "actions_list": [
+      "grasp(paint_brush)",
+      "pick up(paint_brush)",
+      "place(paint_brush, left_hand)"
+    ],
+    "gt_dag": {
+      "grasp(paint_brush)": [
+        "pick up(paint_brush)"
+      ],
+      "pick up(paint_brush)": [
+        "place(paint_brush, left_hand)"
+      ],
+      "place(paint_brush, left_hand)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_221327.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_84022",
+    "actions_list": [
+      "grasp(card)",
+      "pick_up(card)",
+      "place(card, table)"
+    ],
+    "gt_dag": {
+      "grasp(card)": [
+        "pick_up(card)"
+      ],
+      "pick_up(card)": [
+        "place(card, table)"
+      ],
+      "place(card, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_84022.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_70294",
+    "actions_list": [
+      "grasp(ladle)",
+      "pick_up(ladle)",
+      "place(ladle, water)"
+    ],
+    "gt_dag": {
+      "grasp(ladle)": [
+        "pick_up(ladle)"
+      ],
+      "pick_up(ladle)": [
+        "place(ladle, water)"
+      ],
+      "place(ladle, water)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_70294.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_48948",
+    "actions_list": [
+      "grasp(wood_plank)",
+      "pick_up(wood_plank)",
+      "place(wood_plank, wood_holder)"
+    ],
+    "gt_dag": {
+      "grasp(wood_plank)": [
+        "pick_up(wood_plank)"
+      ],
+      "pick_up(wood_plank)": [
+        "place(wood_plank, wood_holder)"
+      ],
+      "place(wood_plank, wood_holder)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_48948.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_4412",
+    "actions_list": [
+      "grasp(scissors)",
+      "pick_up(scissors)",
+      "place(scissors, table)"
+    ],
+    "gt_dag": {
+      "grasp(scissors)": [
+        "pick_up(scissors)"
+      ],
+      "pick_up(scissors)": [
+        "place(scissors, table)"
+      ],
+      "place(scissors, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_4412.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_6092",
+    "actions_list": [
+      "grasp(paper)",
+      "pick_up(paper)",
+      "place(paper, book)"
+    ],
+    "gt_dag": {
+      "grasp(paper)": [
+        "pick_up(paper)"
+      ],
+      "pick_up(paper)": [
+        "place(paper, book)"
+      ],
+      "place(paper, book)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_6092.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_260898",
+    "actions_list": [
+      "grasp(drawer_handle)",
+      "push(drawer, front_the_table)"
+    ],
+    "gt_dag": {
+      "grasp(drawer_handle)": [
+        "push(drawer, front_the_table)"
+      ],
+      "push(drawer, front_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_260898.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_143406",
+    "actions_list": [
+      "grasp(conical_flask)",
+      "pick_up(conical_flask)",
+      "place(conical_flask, table)"
+    ],
+    "gt_dag": {
+      "grasp(conical_flask)": [
+        "pick_up(conical_flask)"
+      ],
+      "pick_up(conical_flask)": [
+        "place(conical_flask, table)"
+      ],
+      "place(conical_flask, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_143406.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_112012",
+    "actions_list": [
+      "grasp(dough_piece)",
+      "pick_up(dough_piece)",
+      "place(dough_piece, tray)"
+    ],
+    "gt_dag": {
+      "grasp(dough_piece)": [
+        "pick_up(dough_piece)"
+      ],
+      "pick_up(dough_piece)": [
+        "place(dough_piece, tray)"
+      ],
+      "place(dough_piece, tray)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_112012.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_119180",
+    "actions_list": [
+      "move_to(dry_sticks, vicinity_of_the_ground)",
+      "place(dry_sticks, ground)"
+    ],
+    "gt_dag": {
+      "move_to(dry_sticks, vicinity_of_the_ground)": [
+        "place(dry_sticks, ground)"
+      ],
+      "place(dry_sticks, ground)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_119180.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_181817",
+    "actions_list": [
+      "grasp(milk_jerry_can)",
+      "pick_up(milk_jerry_can)",
+      "place(milk_jerry_can, counter)"
+    ],
+    "gt_dag": {
+      "grasp(milk_jerry_can)": [
+        "pick_up(milk_jerry_can)"
+      ],
+      "pick_up(milk_jerry_can)": [
+        "place(milk_jerry_can, counter)"
+      ],
+      "place(milk_jerry_can, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_181817.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_310122",
+    "actions_list": [
+      "grasp(bottle_top)",
+      "pick_up(bottle_top)",
+      "place(bottle_top, table)",
+      "grasp(another_bottle_top)",
+      "pick_up(another_bottle_top)",
+      "place(another_bottle_top, table)"
+    ],
+    "gt_dag": {
+      "grasp(bottle_top)": [
+        "pick_up(bottle_top)"
+      ],
+      "pick_up(bottle_top)": [
+        "place(bottle_top, table)"
+      ],
+      "place(bottle_top, table)": [],
+      "grasp(another_bottle_top)": [
+        "pick_up(another_bottle_top)"
+      ],
+      "pick_up(another_bottle_top)": [
+        "place(another_bottle_top, table)"
+      ],
+      "place(another_bottle_top, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_310122.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_149723",
+    "actions_list": [
+      "grasp(paint_roller)",
+      "pick_up(paint_roller)",
+      "place(paint_roller, paint_bucket)"
+    ],
+    "gt_dag": {
+      "grasp(paint_roller)": [
+        "pick_up(paint_roller)"
+      ],
+      "pick_up(paint_roller)": [
+        "place(paint_roller, paint_bucket)"
+      ],
+      "place(paint_roller, paint_bucket)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_149723.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_121195",
+    "actions_list": [
+      "grasp(top_of_the_bag)",
+      "pull(top_of_the_bag, right_side_of_bag)"
+    ],
+    "gt_dag": {
+      "grasp(top_of_the_bag)": [
+        "pull(top_of_the_bag, right_side_of_bag)"
+      ],
+      "pull(top_of_the_bag, right_side_of_bag)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_121195.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_256356",
+    "actions_list": [
+      "grasp(phone)",
+      "pick_up(phone)",
+      "place(phone, table)"
+    ],
+    "gt_dag": {
+      "grasp(phone)": [
+        "pick_up(phone)"
+      ],
+      "pick_up(phone)": [
+        "place(phone, table)"
+      ],
+      "place(phone, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_256356.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_134502",
+    "actions_list": [
+      "grasp(handle_of_the_cooking_pot)",
+      "pick_up(cooking_pot)",
+      "place(cooking_pot, burner)"
+    ],
+    "gt_dag": {
+      "grasp(handle_of_the_cooking_pot)": [
+        "pick_up(cooking_pot)"
+      ],
+      "pick_up(cooking_pot)": [
+        "place(cooking_pot, burner)"
+      ],
+      "place(cooking_pot, burner)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_134502.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_171482",
+    "actions_list": [
+      "grasp(handle_of_the_spoon)",
+      "stir(spoon, oil, bowl)"
+    ],
+    "gt_dag": {
+      "grasp(handle_of_the_spoon)": [
+        "stir(spoon, oil, bowl)"
+      ],
+      "stir(spoon, oil, bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_171482.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_202054",
+    "actions_list": [
+      "grasp(second_piece_of_paper)",
+      "pick_up(second_piece_of_paper)",
+      "place(second_piece_of_paper, sheet)"
+    ],
+    "gt_dag": {
+      "grasp(second_piece_of_paper)": [],
+      "pick_up(second_piece_of_paper)": [],
+      "place(second_piece_of_paper, sheet)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_202054.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_28310",
+    "actions_list": [
+      "grasp(nylon)",
+      "pick_up(nylon)",
+      "pour(nylon, pieces_of_woods, table)"
+    ],
+    "gt_dag": {
+      "grasp(nylon)": [
+        "pick_up(nylon)"
+      ],
+      "pick_up(nylon)": [
+        "pour(nylon, pieces_of_woods, table)"
+      ],
+      "pour(nylon, pieces_of_woods, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_28310.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_221445",
+    "actions_list": [
+      "grasp(paint_brush)",
+      "transfer(left, right, paint_brush)"
+    ],
+    "gt_dag": {
+      "grasp(paint_brush)": [],
+      "transfer(left, right, paint_brush)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_221445.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_484",
+    "actions_list": [
+      "grasp(glass_bowl)",
+      "pick_up(glass_bowl)",
+      "place(glass_bowl, counter_top)"
+    ],
+    "gt_dag": {
+      "grasp(glass_bowl)": [
+        "pick_up(glass_bowl)"
+      ],
+      "pick_up(glass_bowl)": [
+        "place(glass_bowl, counter_top)"
+      ],
+      "place(glass_bowl, counter_top)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_484.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_196014",
+    "actions_list": [
+      "grasp(cloth)",
+      "unfold(right_side_of_cloth, left_side_of_cloth)"
+    ],
+    "gt_dag": {
+      "grasp(cloth)": [
+        "unfold(right_side_of_cloth, left_side_of_cloth)"
+      ],
+      "unfold(right_side_of_cloth, left_side_of_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_196014.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_55149",
+    "actions_list": [
+      "hold_on(yarn)",
+      "transfer(right, left, yarn)"
+    ],
+    "gt_dag": {
+      "hold_on(yarn)": [
+        "transfer(right, left, yarn)"
+      ],
+      "transfer(right, left, yarn)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_55149.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_184051",
+    "actions_list": [
+      "grasp(card)",
+      "pick_up(card)",
+      "place(card, table)"
+    ],
+    "gt_dag": {
+      "grasp(card)": [
+        "pick_up(card)"
+      ],
+      "pick_up(card)": [
+        "place(card, table)"
+      ],
+      "place(card, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_184051.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_285946",
+    "actions_list": [
+      "grasp(head_pan)",
+      "pick_up(hand_trowel)",
+      "scoop(head_pan, mortar, hand_trowel)"
+    ],
+    "gt_dag": {
+      "grasp(head_pan)": [
+        "pick_up(hand_trowel)"
+      ],
+      "pick_up(hand_trowel)": [
+        "scoop(head_pan, mortar, hand_trowel)"
+      ],
+      "scoop(head_pan, mortar, hand_trowel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_285946.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_195321",
+    "actions_list": [
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "place(cloth, table)"
+    ],
+    "gt_dag": {
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "place(cloth, table)"
+      ],
+      "place(cloth, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_195321.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_42695",
+    "actions_list": [
+      "pick up(aluminium_foil_roll)",
+      "grasp(kitchen_cabinet_drawer_handle)",
+      "pull(kitchen_cabinet_drawer_handle, away_from_the_drawer)",
+      "place(aluminium_foil_roll, kitchen_cabinet_drawer)"
+    ],
+    "gt_dag": {
+      "pick up(aluminium_foil_roll)": [
+        "grasp(kitchen_cabinet_drawer_handle)"
+      ],
+      "grasp(kitchen_cabinet_drawer_handle)": [
+        "pull(kitchen_cabinet_drawer_handle, away_from_the_drawer)"
+      ],
+      "pull(kitchen_cabinet_drawer_handle, away_from_the_drawer)": [
+        "place(aluminium_foil_roll, kitchen_cabinet_drawer)"
+      ],
+      "place(aluminium_foil_roll, kitchen_cabinet_drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_42695.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_74068",
+    "actions_list": [
+      "grasp(paper)",
+      "pick_up(paper)",
+      "place(paper, table)"
+    ],
+    "gt_dag": {
+      "grasp(paper)": [
+        "pick_up(paper)"
+      ],
+      "pick_up(paper)": [
+        "place(paper, table)"
+      ],
+      "place(paper, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_74068.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_132544",
+    "actions_list": [
+      "grasp(flower)",
+      "pick_up(flower)",
+      "place(flower, basket)"
+    ],
+    "gt_dag": {
+      "grasp(flower)": [
+        "pick_up(flower)"
+      ],
+      "pick_up(flower)": [
+        "place(flower, basket)"
+      ],
+      "place(flower, basket)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_132544.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_309822",
+    "actions_list": [
+      "grasp(handle_of_the_cabinet_door)",
+      "pull(cabinet_door, front_the_door)"
+    ],
+    "gt_dag": {
+      "grasp(handle_of_the_cabinet_door)": [
+        "pull(cabinet_door, front_the_door)"
+      ],
+      "pull(cabinet_door, front_the_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_309822.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_186856",
+    "actions_list": [
+      "grasp(card)",
+      "pick_up(card)",
+      "place(card, box)"
+    ],
+    "gt_dag": {
+      "grasp(card)": [
+        "pick_up(card)"
+      ],
+      "pick_up(card)": [
+        "place(card, box)"
+      ],
+      "place(card, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_186856.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_29384",
+    "actions_list": [
+      "grasp(building_stone)",
+      "pick_up(building_stone)",
+      "place(building_stone, wet_sand)"
+    ],
+    "gt_dag": {
+      "grasp(building_stone)": [
+        "pick_up(building_stone)"
+      ],
+      "pick_up(building_stone)": [
+        "place(building_stone, wet_sand)"
+      ],
+      "place(building_stone, wet_sand)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_29384.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_209083",
+    "actions_list": [
+      "move_to(none, button)",
+      "grasp(button)",
+      "press(button)"
+    ],
+    "gt_dag": {
+      "move_to(none, button)": [
+        "grasp(button)"
+      ],
+      "grasp(button)": [
+        "press(button)"
+      ],
+      "press(button)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_209083.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_161067",
+    "actions_list": [
+      "grasp(piece_of_wood)",
+      "pick_up(piece_of_wood)",
+      "place(piece_of_wood)"
+    ],
+    "gt_dag": {
+      "grasp(piece_of_wood)": [
+        "pick_up(piece_of_wood)"
+      ],
+      "pick_up(piece_of_wood)": [
+        "place(piece_of_wood)"
+      ],
+      "place(piece_of_wood)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_161067.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_299232",
+    "actions_list": [
+      "grasp(wood)",
+      "pick_up(wood)",
+      "place(wood, floor)"
+    ],
+    "gt_dag": {
+      "grasp(wood)": [
+        "pick_up(wood)"
+      ],
+      "pick_up(wood)": [
+        "place(wood, floor)"
+      ],
+      "place(wood, floor)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_299232.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_237218",
+    "actions_list": [
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "place(bottle, countertop)"
+    ],
+    "gt_dag": {
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "place(bottle, countertop)"
+      ],
+      "place(bottle, countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_237218.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_17121",
+    "actions_list": [
+      "grasp(sickle)",
+      "cut(stick, bamboo, upper_the_bamboo)"
+    ],
+    "gt_dag": {
+      "grasp(sickle)": [
+        "cut(stick, bamboo, upper_the_bamboo)"
+      ],
+      "cut(stick, bamboo, upper_the_bamboo)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_17121.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_25568",
+    "actions_list": [
+      "grasp(clay_craft)",
+      "pick_up(clay_craft)",
+      "place(clay_craft, table)"
+    ],
+    "gt_dag": {
+      "grasp(clay_craft)": [
+        "pick_up(clay_craft)"
+      ],
+      "pick_up(clay_craft)": [
+        "place(clay_craft, table)"
+      ],
+      "place(clay_craft, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_25568.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_237400",
+    "actions_list": [
+      "grasp(tofu)",
+      "pick_up(tofu)",
+      "move_to(tofu, plate)",
+      "place(plate, countertop)"
+    ],
+    "gt_dag": {
+      "grasp(tofu)": [
+        "pick_up(tofu)"
+      ],
+      "pick_up(tofu)": [
+        "move_to(tofu, plate)"
+      ],
+      "move_to(tofu, plate)": [
+        "place(plate, countertop)"
+      ],
+      "place(plate, countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_237400.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_299230",
+    "actions_list": [
+      "grasp(wood)",
+      "pick_up(wood)",
+      "place(wood, woods)"
+    ],
+    "gt_dag": {
+      "grasp(wood)": [
+        "pick_up(wood)"
+      ],
+      "pick_up(wood)": [
+        "place(wood, woods)"
+      ],
+      "place(wood, woods)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_299230.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_45752",
+    "actions_list": [
+      "grasp(wallpaper)",
+      "pick_up(wallpaper)",
+      "place(wallpaper, floor)"
+    ],
+    "gt_dag": {
+      "grasp(wallpaper)": [
+        "pick_up(wallpaper)"
+      ],
+      "pick_up(wallpaper)": [
+        "place(wallpaper, floor)"
+      ],
+      "place(wallpaper, floor)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_45752.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_137376",
+    "actions_list": [
+      "grasp(book)",
+      "pick_up(book)",
+      "place(book, shelf)"
+    ],
+    "gt_dag": {
+      "grasp(book)": [
+        "pick_up(book)"
+      ],
+      "pick_up(book)": [
+        "place(book, shelf)"
+      ],
+      "place(book, shelf)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_137376.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_26499",
+    "actions_list": [
+      "grasp(clothe)",
+      "pull(clothe, left)"
+    ],
+    "gt_dag": {
+      "grasp(clothe)": [
+        "pull(clothe, left)"
+      ],
+      "pull(clothe, left)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_26499.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_20639",
+    "actions_list": [
+      "grasp(roller_of_the_motor)",
+      "pick_up(roller_of_the_motor)",
+      "place(roller_of_the_motor, ground)"
+    ],
+    "gt_dag": {
+      "grasp(roller_of_the_motor)": [
+        "pick_up(roller_of_the_motor)"
+      ],
+      "pick_up(roller_of_the_motor)": [
+        "place(roller_of_the_motor, ground)"
+      ],
+      "place(roller_of_the_motor, ground)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_20639.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_205160",
+    "actions_list": [
+      "grasp(book)",
+      "turn(book, clockwise, parallel_to_the_desktop)"
+    ],
+    "gt_dag": {
+      "grasp(book)": [
+        "turn(book, clockwise, parallel_to_the_desktop)"
+      ],
+      "turn(book, clockwise, parallel_to_the_desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_205160.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_25355",
+    "actions_list": [
+      "grasp(book)",
+      "pick_up(book)",
+      "move_to(book, spine_of_the_adjacent_book)",
+      "place(book, adjacent_book)"
+    ],
+    "gt_dag": {
+      "grasp(book)": [
+        "pick_up(book)"
+      ],
+      "pick_up(book)": [
+        "move_to(book, spine_of_the_adjacent_book)"
+      ],
+      "move_to(book, spine_of_the_adjacent_book)": [
+        "place(book, adjacent_book)"
+      ],
+      "place(book, adjacent_book)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_25355.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_6938",
+    "actions_list": [
+      "grasp(hollow_brick)",
+      "pick_up(hollow_brick)",
+      "place(hollow_brick, ground)"
+    ],
+    "gt_dag": {
+      "grasp(hollow_brick)": [
+        "pick_up(hollow_brick)"
+      ],
+      "pick_up(hollow_brick)": [
+        "place(hollow_brick, ground)"
+      ],
+      "place(hollow_brick, ground)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_6938.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_47773",
+    "actions_list": [
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "place(bowl, sink)"
+    ],
+    "gt_dag": {
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "place(bowl, sink)"
+      ],
+      "place(bowl, sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_47773.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_298481",
+    "actions_list": [
+      "grasp(sticks)",
+      "pull(sticks, away_from_the_barbed_wire_fence)"
+    ],
+    "gt_dag": {
+      "grasp(sticks)": [
+        "pull(sticks, away_from_the_barbed_wire_fence)"
+      ],
+      "pull(sticks, away_from_the_barbed_wire_fence)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_298481.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_300181",
+    "actions_list": [
+      "grasp(wooden_plank)",
+      "pick_up(wooden_plank)",
+      "place(wooden_plank, wooden_structure)"
+    ],
+    "gt_dag": {
+      "grasp(wooden_plank)": [
+        "pick_up(wooden_plank)"
+      ],
+      "pick_up(wooden_plank)": [
+        "place(wooden_plank, wooden_structure)"
+      ],
+      "place(wooden_plank, wooden_structure)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_300181.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_270531",
+    "actions_list": [
+      "grasp(sponge)",
+      "wipe(sponge, water, sink)"
+    ],
+    "gt_dag": {
+      "grasp(sponge)": [
+        "wipe(sponge, water, sink)"
+      ],
+      "wipe(sponge, water, sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_270531.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_157477",
+    "actions_list": [
+      "grasp(needle)",
+      "pick_up(needle)",
+      "place(needle, thread)"
+    ],
+    "gt_dag": {
+      "grasp(needle)": [
+        "pick_up(needle)"
+      ],
+      "pick_up(needle)": [
+        "place(needle, thread)"
+      ],
+      "place(needle, thread)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_157477.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_154883",
+    "actions_list": [
+      "grasp(scissors)",
+      "pick_up(scissors)",
+      "place(scissors, table_of_the_sewing_machine)"
+    ],
+    "gt_dag": {
+      "grasp(scissors)": [
+        "pick_up(scissors)"
+      ],
+      "pick_up(scissors)": [
+        "place(scissors, table_of_the_sewing_machine)"
+      ],
+      "place(scissors, table_of_the_sewing_machine)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_154883.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_152410",
+    "actions_list": [
+      "grasp(brush)",
+      "pick_up(brush)",
+      "wipe(brush, excess_paint, cloth)"
+    ],
+    "gt_dag": {
+      "grasp(brush)": [
+        "pick_up(brush)"
+      ],
+      "pick_up(brush)": [
+        "wipe(brush, excess_paint, cloth)"
+      ],
+      "wipe(brush, excess_paint, cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_152410.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_1223",
+    "actions_list": [
+      "grasp(faucet)",
+      "turn(faucet, clockwise, middle_of_sink)"
+    ],
+    "gt_dag": {
+      "grasp(faucet)": [
+        "turn(faucet, clockwise, middle_of_sink)"
+      ],
+      "turn(faucet, clockwise, middle_of_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_1223.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_148904",
+    "actions_list": [
+      "grasp(pieces_of_wood)",
+      "pick_up(pieces_of_wood)",
+      "place(pieces_of_wood, bucket)"
+    ],
+    "gt_dag": {
+      "grasp(pieces_of_wood)": [
+        "pick_up(pieces_of_wood)"
+      ],
+      "pick_up(pieces_of_wood)": [
+        "place(pieces_of_wood, bucket)"
+      ],
+      "place(pieces_of_wood, bucket)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_148904.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_233123",
+    "actions_list": [
+      "grasp(food)",
+      "pick_up(food)",
+      "place(food, skillet)"
+    ],
+    "gt_dag": {
+      "grasp(food)": [
+        "pick_up(food)"
+      ],
+      "pick_up(food)": [
+        "place(food, skillet)"
+      ],
+      "place(food, skillet)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_233123.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_117156",
+    "actions_list": [
+      "grasp(bicycle_handle_grip)",
+      "pull(bicycle_handle_grip, opposite_direction_of_the_bicycle_handle)"
+    ],
+    "gt_dag": {
+      "grasp(bicycle_handle_grip)": [
+        "pull(bicycle_handle_grip, opposite_direction_of_the_bicycle_handle)"
+      ],
+      "pull(bicycle_handle_grip, opposite_direction_of_the_bicycle_handle)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_117156.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_51684",
+    "actions_list": [
+      "grasp(flower)",
+      "pick_up(flower)",
+      "place(flower, string)"
+    ],
+    "gt_dag": {
+      "grasp(flower)": [
+        "pick_up(flower)"
+      ],
+      "pick_up(flower)": [
+        "place(flower, string)"
+      ],
+      "place(flower, string)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_51684.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_206500",
+    "actions_list": [
+      "grasp(drawer_handle)",
+      "push(drawer, front_the_drawer)"
+    ],
+    "gt_dag": {
+      "grasp(drawer_handle)": [
+        "push(drawer, front_the_drawer)"
+      ],
+      "push(drawer, front_the_drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_206500.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_254868",
+    "actions_list": [
+      "grasp(fridge_door_handle)",
+      "pull(fridge_door, away_from_the_fridge_door)"
+    ],
+    "gt_dag": {
+      "grasp(fridge_door_handle)": [
+        "pull(fridge_door, away_from_the_fridge_door)"
+      ],
+      "pull(fridge_door, away_from_the_fridge_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_254868.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_174612",
+    "actions_list": [
+      "move_to(yarn, fingers_of_the_left_hand)",
+      "hold_on(yarn)"
+    ],
+    "gt_dag": {
+      "move_to(yarn, fingers_of_the_left_hand)": [
+        "hold_on(yarn)"
+      ],
+      "hold_on(yarn)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_174612.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_117554",
+    "actions_list": [
+      "grasp(metal_frame)",
+      "pick_up(metal_frame)",
+      "move_to(metal_frame, destination)"
+    ],
+    "gt_dag": {
+      "grasp(metal_frame)": [
+        "pick_up(metal_frame)"
+      ],
+      "pick_up(metal_frame)": [
+        "move_to(metal_frame, destination)"
+      ],
+      "move_to(metal_frame, destination)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_117554.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_117168",
+    "actions_list": [
+      "move_to(none, handle_grip_holder)",
+      "grasp(handle_grip_holder)"
+    ],
+    "gt_dag": {
+      "move_to(none, handle_grip_holder)": [
+        "grasp(handle_grip_holder)"
+      ],
+      "grasp(handle_grip_holder)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_117168.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_264507",
+    "actions_list": [
+      "grasp(book)",
+      "pick_up(book)",
+      "place(book, stack_of_books_on_the_table)"
+    ],
+    "gt_dag": {
+      "grasp(book)": [
+        "pick_up(book)"
+      ],
+      "pick_up(book)": [
+        "place(book, stack_of_books_on_the_table)"
+      ],
+      "place(book, stack_of_books_on_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_264507.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_297330",
+    "actions_list": [
+      "grasp(twig)",
+      "pull(twig, away_from_the_fence)"
+    ],
+    "gt_dag": {
+      "grasp(twig)": [
+        "pull(twig, away_from_the_fence)"
+      ],
+      "pull(twig, away_from_the_fence)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_297330.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_315222",
+    "actions_list": [
+      "grasp(ludo_token)",
+      "pick_up(ludo_token)",
+      "move_to(token, location_specified_by_the_dice)",
+      "place(token, location_specified_by_the_dice)"
+    ],
+    "gt_dag": {
+      "grasp(ludo_token)": [
+        "pick_up(ludo_token)"
+      ],
+      "pick_up(ludo_token)": [
+        "move_to(token, location_specified_by_the_dice)"
+      ],
+      "move_to(token, location_specified_by_the_dice)": [
+        "place(token, location_specified_by_the_dice)"
+      ],
+      "place(token, location_specified_by_the_dice)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_315222.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_33887",
+    "actions_list": [
+      "grasp(cooking_pot)",
+      "pick_up(cooking_pot)",
+      "place(cooking_pot, stove)"
+    ],
+    "gt_dag": {
+      "grasp(cooking_pot)": [
+        "pick_up(cooking_pot)"
+      ],
+      "pick_up(cooking_pot)": [
+        "place(cooking_pot, stove)"
+      ],
+      "place(cooking_pot, stove)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_33887.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_279943",
+    "actions_list": [
+      "hold_on(funnel)",
+      "move_to(funnel, wipe)",
+      "place(funnel, wipe)"
+    ],
+    "gt_dag": {
+      "hold_on(funnel)": [
+        "move_to(funnel, wipe)"
+      ],
+      "move_to(funnel, wipe)": [
+        "place(funnel, wipe)"
+      ],
+      "place(funnel, wipe)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_279943.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_272839",
+    "actions_list": [
+      "grasp(bucket)",
+      "pick_up(bucket)",
+      "place(bucket, ground)"
+    ],
+    "gt_dag": {
+      "grasp(bucket)": [
+        "pick_up(bucket)"
+      ],
+      "pick_up(bucket)": [
+        "place(bucket, ground)"
+      ],
+      "place(bucket, ground)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_272839.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_98043",
+    "actions_list": [
+      "grasp(dough)",
+      "pick_up(dough)",
+      "move_to(rolling_pin, dough)",
+      "push(rolling_pin, fore_and_aft_direction)"
+    ],
+    "gt_dag": {
+      "grasp(dough)": [
+        "pick_up(dough)"
+      ],
+      "pick_up(dough)": [
+        "move_to(rolling_pin, dough)"
+      ],
+      "move_to(rolling_pin, dough)": [
+        "push(rolling_pin, fore_and_aft_direction)"
+      ],
+      "push(rolling_pin, fore_and_aft_direction)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_98043.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_272183",
+    "actions_list": [
+      "grasp(brush)",
+      "pick_up(brush)",
+      "draw(brush, people, canvas)"
+    ],
+    "gt_dag": {
+      "grasp(brush)": [
+        "pick_up(brush)"
+      ],
+      "pick_up(brush)": [
+        "draw(brush, people, canvas)"
+      ],
+      "draw(brush, people, canvas)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_272183.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_218266",
+    "actions_list": [
+      "grasp(rail)",
+      "move_to(rail, right_location)"
+    ],
+    "gt_dag": {
+      "grasp(rail)": [
+        "move_to(rail, right_location)"
+      ],
+      "move_to(rail, right_location)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_218266.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_256042",
+    "actions_list": [
+      "grasp(wood)",
+      "pick_up(wood)",
+      "place(wood, wood_cutter)"
+    ],
+    "gt_dag": {
+      "grasp(wood)": [
+        "pick_up(wood)"
+      ],
+      "pick_up(wood)": [
+        "place(wood, wood_cutter)"
+      ],
+      "place(wood, wood_cutter)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_256042.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_227264",
+    "actions_list": [
+      "grasp(salad)",
+      "pick_up(salad)",
+      "place(salad, sink)"
+    ],
+    "gt_dag": {
+      "grasp(salad)": [
+        "pick_up(salad)"
+      ],
+      "pick_up(salad)": [
+        "place(salad, sink)"
+      ],
+      "place(salad, sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_227264.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_112087",
+    "actions_list": [
+      "grasp(dough)",
+      "pick_up(dough)",
+      "place(dough, table)"
+    ],
+    "gt_dag": {
+      "grasp(dough)": [
+        "pick_up(dough)"
+      ],
+      "pick_up(dough)": [
+        "place(dough, table)"
+      ],
+      "place(dough, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_112087.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_206848",
+    "actions_list": [
+      "grasp(screw)",
+      "turn(screw, clockwise, on_the_clutch_cable)"
+    ],
+    "gt_dag": {
+      "grasp(screw)": [],
+      "turn(screw, clockwise, on_the_clutch_cable)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_206848.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_5849",
+    "actions_list": [
+      "grasp(pen)",
+      "pick_up(pen)",
+      "draw(pen, word, white_paper)"
+    ],
+    "gt_dag": {
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "draw(pen, word, white_paper)"
+      ],
+      "draw(pen, word, white_paper)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_5849.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_24842",
+    "actions_list": [
+      "grasp(book)",
+      "pick_up(book)",
+      "place(book, shelf)"
+    ],
+    "gt_dag": {
+      "grasp(book)": [
+        "pick_up(book)"
+      ],
+      "pick_up(book)": [
+        "place(book, shelf)"
+      ],
+      "place(book, shelf)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_24842.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_271008",
+    "actions_list": [
+      "grasp(paper)",
+      "turn(paper, clockwise, parallel_to_the_desktop)"
+    ],
+    "gt_dag": {
+      "grasp(paper)": [],
+      "turn(paper, clockwise, parallel_to_the_desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_271008.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_257138",
+    "actions_list": [
+      "turn(knob, anticlockwise, front_the_washing_machine)",
+      "turn(knob, clockwise, front_the_washing_machine)"
+    ],
+    "gt_dag": {
+      "turn(knob, anticlockwise, front_the_washing_machine)": [
+        "turn(knob, clockwise, front_the_washing_machine)"
+      ],
+      "turn(knob, clockwise, front_the_washing_machine)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_257138.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_140674",
+    "actions_list": [
+      "grasp(phone)",
+      "pick_up(phone)",
+      "place(phone, pocket)"
+    ],
+    "gt_dag": {
+      "grasp(phone)": [
+        "pick_up(phone)"
+      ],
+      "pick_up(phone)": [
+        "place(phone, pocket)"
+      ],
+      "place(phone, pocket)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_140674.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_46011",
+    "actions_list": [
+      "grasp(house_wrap_paper)",
+      "wipe(house_wrap_paper, paint_scraper, knife)"
+    ],
+    "gt_dag": {
+      "grasp(house_wrap_paper)": [],
+      "wipe(house_wrap_paper, paint_scraper, knife)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_46011.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_232318",
+    "actions_list": [
+      "grasp(spanner_hook)",
+      "pick_up(spanner_hook)",
+      "place(spanner_hook, center_of_the_car)"
+    ],
+    "gt_dag": {
+      "grasp(spanner_hook)": [
+        "pick_up(spanner_hook)"
+      ],
+      "pick_up(spanner_hook)": [
+        "place(spanner_hook, center_of_the_car)"
+      ],
+      "place(spanner_hook, center_of_the_car)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_232318.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_98178",
+    "actions_list": [
+      "grasp(dough)",
+      "turn(dough, anticlockwise, parallel_to_the_desktop)"
+    ],
+    "gt_dag": {
+      "grasp(dough)": [
+        "turn(dough, anticlockwise, parallel_to_the_desktop)"
+      ],
+      "turn(dough, anticlockwise, parallel_to_the_desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_98178.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_286282",
+    "actions_list": [
+      "grasp(trowel)",
+      "wipe(trowel, cement, wall)"
+    ],
+    "gt_dag": {
+      "grasp(trowel)": [
+        "wipe(trowel, cement, wall)"
+      ],
+      "wipe(trowel, cement, wall)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_286282.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_249679",
+    "actions_list": [
+      "grasp(brush)",
+      "wipe(container, brush, wall)"
+    ],
+    "gt_dag": {
+      "grasp(brush)": [
+        "wipe(container, brush, wall)"
+      ],
+      "wipe(container, brush, wall)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_249679.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_199052",
+    "actions_list": [
+      "grasp(sketching_paper)",
+      "turn(sketching_paper, clockwise, parallel_to_the_desktop)"
+    ],
+    "gt_dag": {
+      "grasp(sketching_paper)": [
+        "turn(sketching_paper, clockwise, parallel_to_the_desktop)"
+      ],
+      "turn(sketching_paper, clockwise, parallel_to_the_desktop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_199052.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_27523",
+    "actions_list": [
+      "grasp(tape)",
+      "pick_up(tape)",
+      "place(tape, table)"
+    ],
+    "gt_dag": {
+      "grasp(tape)": [
+        "pick_up(tape)"
+      ],
+      "pick_up(tape)": [
+        "place(tape, table)"
+      ],
+      "place(tape, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_27523.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_110163",
+    "actions_list": [
+      "grasp(dough)",
+      "pick_up(dough)",
+      "place(dough, countertop)"
+    ],
+    "gt_dag": {
+      "grasp(dough)": [
+        "pick_up(dough)"
+      ],
+      "pick_up(dough)": [
+        "place(dough, countertop)"
+      ],
+      "place(dough, countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_110163.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/human/images/EGO_293785",
+    "actions_list": [
+      "grasp(piece_of_cloth)",
+      "pick_up(piece_of_cloth)",
+      "place(piece_of_cloth, baking_tray)"
+    ],
+    "gt_dag": {
+      "grasp(piece_of_cloth)": [
+        "pick_up(piece_of_cloth)"
+      ],
+      "pick_up(piece_of_cloth)": [
+        "place(piece_of_cloth, baking_tray)"
+      ],
+      "place(piece_of_cloth, baking_tray)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_human_images_EGO_293785.png"
+  }
+]
\ No newline at end of file
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
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diff --git a/3_generalized_planning/cross_embodiment/human/images/EGO_102863/image_00003.png b/3_generalized_planning/cross_embodiment/human/images/EGO_102863/image_00003.png
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@@ -0,0 +1,3 @@
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diff --git a/3_generalized_planning/cross_embodiment/human/images/EGO_102863/image_00004.png b/3_generalized_planning/cross_embodiment/human/images/EGO_102863/image_00004.png
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@@ -0,0 +1,3 @@
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+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_9931_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <opens the refrigerator> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(handle), 2-pull(refrigerator_door)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_222117_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the puzzle piece on his hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(puzzle_piece), 2-pick_up(puzzle_piece), 3-place(puzzle_piece, hand)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_52529_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <hangs the socks> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(sock), 2-pick_up(sock), 3-place(sock, clothesline)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_127785_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the dried chili pepper onto the dried chili peppers on the newspaper on the floor with her left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(dried_chili_pepper), 2-pick_up(dried_chili_pepper), 3-place(dried_chili_pepper, on_the_newspaper_on_the_floor)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_165299_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the rectangular wood against the shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(wood), 2-pick_up(wood), 3-move_to(wood, shelf), 4-place(wood, shelf)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_287167_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <pours grains in the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(container_with_grains), 2-pick_up(container_with_grains), 3-pour(container, grains, basket), 4-place(container, none)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_165594_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <pulls a nail with nail puller pliers from wood> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(nail_puller_pliers), 2-insert(nail_puller_pliers, hole_of_the_nail), 3-turn(nail_puller_pliers, anticlockwise, middle_of_wood), 4-pull(nail, hole_of_the_nail)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_40824_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <moves string along cable> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-hold(string), 2-move_to(string, cable)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_957_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <carries the aluminum tin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, bottom_of_the_aluminum_tin), 2-grasp(bottom_of_the_aluminum_tin), 3-pick_up(aluminum_tin)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_111941_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the dough pieces in a tray> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(dough_pieces), 2-pick_up(dough_pieces), 3-place(dough_pieces, tray)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_162883_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <fixes the puzzle piece> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(puzzle_piece), 2-pick_up(puzzle_piece), 3-place(puzzle_piece, correct_position)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_268191_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <turns the piece of wood on the wood cutting machine with his left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(handle_of_the_wood_cutting_machine), 2-pick_up(piece_of_wood), 3-turn(piece_of_wood, anticlockwise, left_hand)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_102863_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <opens a bag of spinach> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-insert(thumb, corner_of_the_zip-lock_bag), 2-pull(zipper, right_side_of_bag)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_265119_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <wipes a book with a  piece of cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(piece_of_cloth), 2-pick_up(piece_of_cloth), 3-wipe(piece_of_cloth, book, left_hand)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_48140_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the f-clamp on the table with his left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(F-clamp), 2-pick_up(F-clamp), 3-place(F-clamp, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_94386_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <pushes up a gear lever> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(gear_lever), 2-push(gear_lever, upper_the_gear_lever)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_225805_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the flower stalks on the sack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(flower_stalks), 2-pick_up(flower_stalks), 3-place(flower_stalks, sack)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_36356_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the plate in the rack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(plate), 2-pick_up(plate), 3-place(plate, rack)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_201177_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <he man b pours the sand in the digging hoe in both hands to the ground> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(digging_hoe), 2-pick_up(digging_hoe), 3-scoop(digging_hoe, sand, ground)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_194875_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <adjusts the bricks> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(bricks), 2-pick_up(bricks), 3-place(bricks, right_place)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_90903_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <opens up a tap with a hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(faucet), 2-turn(faucet, anticlockwise, middle_of_sink)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_29391_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <holds a building stone> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(stone), 2-hold(stone)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_123610_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the plastic part of solar robot on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(plastic_part_of_solar_robot), 2-pick_up(plastic_part_of_solar_robot), 3-place(plastic_part_of_solar_robot, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_297471_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the twig in his left hand on the ground> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(twig), 2-pick_up(twig), 3-place(twig, ground)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_226296_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <holds the flowers with both hands> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-both: grasp(flowers), 2-both: pick_up(flowers), 3-both: hold(flowers)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_57444_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the tomato inside the plastic colander> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(tomato), 2-pick_up(tomato), 3-place(tomato, plastic_colander)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_225355_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <plays the grand piano with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, key), 2-press(none, key), 3-move_away_from(none, key)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_3276_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <pours mashed potatoes in the spoon in her right hand into a mushroom in the pan on the cooker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(spoon), 2-pick_up(spoon), 3-move_to(spoon, mushroom), 4-pour(spoon, mashed_potatoes, mushroom)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_221327_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <passes the paint brush to his left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(paint_brush), 2-pick_up(paint_brush), 3-place(paint_brush, left_hand)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_84022_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <he man a drops the card on the table with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(card), 2-pick_up(card), 3-place(card, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_70294_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <rinses the ladle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(ladle), 2-pick_up(ladle), 3-place(ladle, water)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_48948_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <holds the wood plank with the wood holder> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(wood_plank), 2-pick_up(wood_plank), 3-place(wood_plank, wood_holder)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_4412_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <places the scissors on the table with his left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(scissors), 2-pick_up(scissors), 3-place(scissors, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_6092_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the papers on the paper on a book on a table with her left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(paper), 2-pick_up(paper), 3-place(paper, book)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_260898_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <pushes the drawers> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(drawer_handle), 2-push(drawer, front_the_table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_143406_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the conical flask on the table with her left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(conical_flask), 2-pick_up(conical_flask), 3-place(conical_flask, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_112012_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <adjusts a dough piece in the tray> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(dough_piece), 2-pick_up(dough_piece), 3-place(dough_piece, tray)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_119180_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the dry sticks on the ground with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-move_to(dry_sticks, vicinity_of_the_ground), 2-place(dry_sticks, ground)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_181817_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts a milk jerry can on the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(milk_jerry_can), 2-pick_up(milk_jerry_can), 3-place(milk_jerry_can, counter)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_310122_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <lady x  plays bottle top game> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-grasp(bottle_top), 2-pick_up(bottle_top), 3-place(bottle_top, table), 4-grasp(another_bottle_top), 5-pick_up(another_bottle_top), 6-place(another_bottle_top, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_149723_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the paint roller in the paint bucket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(paint_roller), 2-pick_up(paint_roller), 3-place(paint_roller, paint_bucket)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_121195_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <opens the clear polythene bag with both hands> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(top_of_the_bag), 2-pull(top_of_the_bag, right_side_of_bag)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_256356_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <man x moves a phone on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(phone), 2-pick_up(phone), 3-place(phone, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_134502_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts a cooking pot on the burner> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(handle_of_the_cooking_pot), 2-pick_up(cooking_pot), 3-place(cooking_pot, burner)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_171482_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <stirs the oil with the spoon in the bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(handle_of_the_spoon), 2-stir(spoon, oil, bowl)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_202054_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <joins the second piece to the sheet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(second_piece_of_paper), 2-pick_up(second_piece_of_paper), 3-place(second_piece_of_paper, sheet)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_28310_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <pours the pieces of woods in the nylon on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(nylon), 2-pick_up(nylon), 3-pour(nylon, pieces_of_woods, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_221445_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <places the paint brush on his other hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(paint_brush), 2-transfer(left, right, paint_brush)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_484_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the glass bowl on the counter top with her right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(glass_bowl), 2-pick_up(glass_bowl), 3-place(glass_bowl, counter_top)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_196014_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <unfolds the cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(cloth), 2-unfold(right_side_of_cloth, left_side_of_cloth)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_55149_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <passes the knitted yarn from her right hand to her left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-hold(yarn), 2-transfer(right, left, yarn)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_184051_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the card on the table with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(card), 2-pick_up(card), 3-place(card, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_285946_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <scoops mortar from the head pan with the hand trowel in his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(head_pan), 2-pick_up(hand_trowel), 3-scoop(head_pan, mortar, hand_trowel)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_195321_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <places the cloth on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(cloth), 2-pick_up(cloth), 3-place(cloth, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_42695_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <places the aluminium foil in the kitchen cabinet drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-pick_up(aluminium_foil_roll), 2-grasp(kitchen_cabinet_drawer_handle), 3-pull(kitchen_cabinet_drawer_handle, away_from_the_drawer), 4-place(aluminium_foil_roll, kitchen_cabinet_drawer)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_74068_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts down the manual paper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(paper), 2-pick_up(paper), 3-place(paper, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_132544_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts a flower in a basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(flower), 2-pick_up(flower), 3-place(flower, basket)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_309822_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <closes the cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(handle_of_the_cabinet_door), 2-pull(cabinet_door, front_the_door)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_186856_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <an l moves the cards> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(card), 2-pick_up(card), 3-place(card, box)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_29384_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the building stone on the wet sand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(building_stone), 2-pick_up(building_stone), 3-place(building_stone, wet_sand)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_209083_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <c presses a button on the keyboard with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, button), 2-grasp(button), 3-press(none, button)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_161067_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts down the piece of wood> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(piece_of_wood), 2-pick_up(piece_of_wood), 3-place(piece_of_wood)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_299232_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <places the the wood on the floor> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(wood), 2-pick_up(wood), 3-place(wood, floor)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_237218_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the bottle in her left hand on the countertop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(bottle), 2-pick_up(bottle), 3-place(bottle, countertop)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_17121_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <tears the bamboo stick with a sickle in right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(sickle), 2-cut(stick, bamboo, upper_the_bamboo)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_25568_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <adjusts clay craft with her hands> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(clay_craft), 2-pick_up(clay_craft), 3-place(clay_craft, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_237400_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the tofu in the plate on the countertop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(tofu), 2-pick_up(tofu), 3-move_to(tofu, plate), 4-place(plate, countertop)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_299230_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the wood on the woods> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(wood), 2-pick_up(wood), 3-place(wood, woods)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_45752_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the wallpaper on the floor> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(wallpaper), 2-pick_up(wallpaper), 3-place(wallpaper, floor)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_137376_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts a book in the shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(book), 2-pick_up(book), 3-place(book, shelf)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_26499_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <pulls the clothe on the right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(clothe), 2-pull(clothe, left)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_20639_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the roller of the motor on the ground> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(roller_of_the_motor), 2-pick_up(roller_of_the_motor), 3-place(roller_of_the_motor, ground)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_205160_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <opens the book pages> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(book), 2-turn(book, clockwise, parallel_to_the_desktop)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_25355_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <aligns the books in the shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(book), 2-pick_up(book), 3-move_to(book, spine_of_the_adjacent_book), 4-place(book, adjacent_book)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_6938_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts a hollow brick down> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(hollow_brick), 2-pick_up(hollow_brick), 3-place(hollow_brick, ground)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_47773_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts a bowl in the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(bowl), 2-pick_up(bowl), 3-place(bowl, sink)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_298481_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <pulls the sticks on the barbed wire fence with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(sticks), 2-pull(sticks, away_from_the_barbed_wire_fence)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_300181_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the wooden plank on the wooden structure with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(wooden_plank), 2-pick_up(wooden_plank), 3-place(wooden_plank, wooden_structure)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_270531_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <washes the sink with the sponge in her left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(sponge), 2-wipe(sponge, water, sink)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_157477_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts it down the thread> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(needle), 2-pick_up(needle), 3-place(needle, thread)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_154883_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the scissors in her right hand on the table of the sewing machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(scissors), 2-pick_up(scissors), 3-place(scissors, table_of_the_sewing_machine)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_152410_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <removes excess paint from the brush> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(brush), 2-pick_up(brush), 3-wipe(brush, excess_paint, cloth)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_1223_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <turns on the tap> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(faucet), 2-turn(faucet, clockwise, middle_of_sink)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_148904_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <throws pieces of wood in a bucket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(pieces_of_wood), 2-pick_up(pieces_of_wood), 3-place(pieces_of_wood, bucket)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_233123_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the food into the skillet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(food), 2-pick_up(food), 3-place(food, skillet)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_117156_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <removes the bicycle handle grip from the bicycle handle with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(bicycle_handle_grip), 2-pull(bicycle_handle_grip, opposite_direction_of_the_bicycle_handle)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_51684_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts flower in a string> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(flower), 2-pick_up(flower), 3-place(flower, string)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_206500_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <closes the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(drawer_handle), 2-push(drawer, front_the_drawer)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_254868_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <opens fridge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(fridge_door_handle), 2-pull(fridge_door, away_from_the_fridge_door)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_174612_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <aligns the yarn with the left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-move_to(yarn, fingers_of_the_left_hand), 2-hold(yarn)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_117554_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <moves the metal frame with his left hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(metal_frame), 2-pick_up(metal_frame), 3-move_to(metal_frame, destination)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_117168_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <holds the bicycle handle grip holder with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-move_to(none, handle_grip_holder), 2-grasp(handle_grip_holder)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_264507_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the book on the stack of books on the table with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(book), 2-pick_up(book), 3-place(book, stack_of_books_on_the_table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_297330_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <pulls a twig from the fence with both hands> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(twig), 2-pull(twig, away_from_the_fence)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_315222_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <moves the ludo token from the ludo game with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(ludo_token), 2-pick_up(ludo_token), 3-move_to(token, location_specified_by_the_dice), 4-place(token, location_specified_by_the_dice)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_33887_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <c puts the cooking pot down> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(cooking_pot), 2-pick_up(cooking_pot), 3-place(cooking_pot, stove)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_279943_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <holds the funnel in his left hand on the wipe on the tire of the lawn mower> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-hold(funnel), 2-move_to(funnel, wipe), 3-place(funnel, wipe)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_272839_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts down a bucket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(bucket), 2-pick_up(bucket), 3-place(bucket, ground)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_98043_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <rolls the dough on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-grasp(dough), 2-pick_up(dough), 3-move_to(rolling_pin, dough), 4-push(rolling_pin, fore_and_aft_direction)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_272183_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <draws the paint> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(brush), 2-pick_up(brush), 3-draw(brush, people, canvas)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_218266_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <moves the metal rail> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(rail), 2-move_to(rail, right_location)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_256042_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <moves a piece of wood on a wood cutter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(wood), 2-pick_up(wood), 3-place(wood, wood_cutter)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_227264_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the salad on the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(salad), 2-pick_up(salad), 3-place(salad, sink)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_112087_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <moves dough on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(dough), 2-pick_up(dough), 3-place(dough, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_206848_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <turns the screw on the clutch cable with the spanner in his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(screw), 2-turn(screw, clockwise, on_the_clutch_cable)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_5849_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <writes on the printed white paper with the pen in her right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(pen), 2-pick_up(pen), 3-draw(pen, word, white_paper)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_24842_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <places the book on the shelf with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(book), 2-pick_up(book), 3-place(book, shelf)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_271008_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <turns the paper in her two hands to the other side> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(paper), 2-turn(paper, clockwise, parallel_to_the_desktop)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_257138_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <adjusts the machine> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-turn(knob, anticlockwise, front_the_washing_machine), 2-turn(knob, clockwise, front_the_washing_machine)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_140674_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <puts the phone in the pocket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(phone), 2-pick_up(phone), 3-place(phone, pocket)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_46011_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <wipes paint scraper against house wrap paper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(house_wrap_paper), 2-wipe(house_wrap_paper, paint_scraper, knife)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_232318_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <places the spanner hook on the car> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(spanner_hook), 2-pick_up(spanner_hook), 3-place(spanner_hook, center_of_the_car)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_98178_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <turns the dough on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(dough), 2-turn(dough, anticlockwise, parallel_to_the_desktop)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_286282_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <applies cement to the wall with a trowel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(trowel), 2-wipe(trowel, cement, wall)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_249679_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <wipes the brush on a container> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(brush), 2-wipe(container, brush, wall)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_199052_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <turns the sketching paper> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 2 steps.",
+    "gt_answer": "1-grasp(sketching_paper), 2-turn(sketching_paper, clockwise, parallel_to_the_desktop)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_27523_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <drops the tape on the table with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(tape), 2-pick_up(tape), 3-place(tape, table)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/human/images/EGO_110163_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
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+    "question": "With <drops the dough on the countertop with his right hand> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(dough), 2-pick_up(dough), 3-place(dough, countertop)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  },
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+      "3_generalized_planning",
+      "cross_embodiment",
+      "human"
+    ],
+    "input_type": "video",
+    "robotic_type": "human",
+    "question": "With <covers the baking tray with the piece of cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(piece_of_cloth), 2-pick_up(piece_of_cloth), 3-place(piece_of_cloth, baking_tray)",
+    "image_urls": [
+      "image_00000.png"
+    ]
+  }
+]
\ No newline at end of file
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+[
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0",
+    "actions_list": [
+      "mobile(table_former)",
+      "move_to(none,piece_of_paper)",
+      "grasp(paper)",
+      "pick_up(paper)",
+      "observation(printer)",
+      "mobile(printer_former)",
+      "move_to(paper,paper_tray_of_the_printer)",
+      "place(paper, printer_paper_tray)"
+    ],
+    "gt_dag": {
+      "mobile(table_former)": [
+        "move_to(none,piece_of_paper)"
+      ],
+      "move_to(none,piece_of_paper)": [
+        "grasp(paper)"
+      ],
+      "grasp(paper)": [
+        "pick_up(paper)"
+      ],
+      "pick_up(paper)": [
+        "observation(printer)"
+      ],
+      "observation(printer)": [
+        "mobile(printer_former)"
+      ],
+      "mobile(printer_former)": [
+        "move_to(paper,paper_tray_of_the_printer)"
+      ],
+      "move_to(paper,paper_tray_of_the_printer)": [
+        "place(paper, printer_paper_tray)"
+      ],
+      "place(paper, printer_paper_tray)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_add_printer_paper_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_1",
+    "actions_list": [
+      "mobile(table_former)",
+      "move_to(none, crumpled_paper_balls)",
+      "grasp(crumpled_paper_balls)",
+      "pick_up(crumpled_paper_balls)",
+      "observation(trash_bin)",
+      "mobile(trash_bin_former)",
+      "move_to(crumpled_paper_balls, trash_bin)",
+      "place(crumpled_paper, trash_bin)"
+    ],
+    "gt_dag": {
+      "mobile(table_former)": [
+        "move_to(none, crumpled_paper_balls)"
+      ],
+      "move_to(none, crumpled_paper_balls)": [
+        "grasp(crumpled_paper_balls)"
+      ],
+      "grasp(crumpled_paper_balls)": [
+        "pick_up(crumpled_paper_balls)"
+      ],
+      "pick_up(crumpled_paper_balls)": [
+        "observation(trash_bin)"
+      ],
+      "observation(trash_bin)": [
+        "mobile(trash_bin_former)"
+      ],
+      "mobile(trash_bin_former)": [
+        "move_to(crumpled_paper_balls, trash_bin)"
+      ],
+      "move_to(crumpled_paper_balls, trash_bin)": [
+        "place(crumpled_paper, trash_bin)"
+      ],
+      "place(crumpled_paper, trash_bin)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_garbage_with_single_arm_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_0",
+    "actions_list": [
+      "mobile(table_former)",
+      "move_to(none, crumpled_paper_balls)",
+      "grasp(crumpled_paper_balls)",
+      "pick_up(crumpled_paper_balls)",
+      "observation(trash_can)",
+      "mobile(trash_can_former)",
+      "move_to(crumpled_paper_balls, trash_can)",
+      "place(crumpled_paper_balls, trash_can)"
+    ],
+    "gt_dag": {
+      "mobile(table_former)": [
+        "move_to(none, crumpled_paper_balls)"
+      ],
+      "move_to(none, crumpled_paper_balls)": [
+        "grasp(crumpled_paper_balls)"
+      ],
+      "grasp(crumpled_paper_balls)": [
+        "pick_up(crumpled_paper_balls)"
+      ],
+      "pick_up(crumpled_paper_balls)": [
+        "observation(trash_can)"
+      ],
+      "observation(trash_can)": [
+        "mobile(trash_can_former)"
+      ],
+      "mobile(trash_can_former)": [
+        "move_to(crumpled_paper_balls, trash_can)"
+      ],
+      "move_to(crumpled_paper_balls, trash_can)": [
+        "place(crumpled_paper_balls, trash_can)"
+      ],
+      "place(crumpled_paper_balls, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_garbage_with_single_arm_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_3",
+    "actions_list": [
+      "mobile(crumpled_paper_balls_former)",
+      "move_to(none, crumpled_paper_balls)",
+      "grasp(crumpled_paper_balls)",
+      "pick_up(crumpled_paper_balls)",
+      "observation(trash_can)",
+      "mobile(trash_can_former)",
+      "move_to(crumpled_paper_balls, trash_can)",
+      "place(crumpled_paper_balls, trash_can)"
+    ],
+    "gt_dag": {
+      "mobile(crumpled_paper_balls_former)": [
+        "move_to(none, crumpled_paper_balls)"
+      ],
+      "move_to(none, crumpled_paper_balls)": [
+        "grasp(crumpled_paper_balls)"
+      ],
+      "grasp(crumpled_paper_balls)": [
+        "pick_up(crumpled_paper_balls)"
+      ],
+      "pick_up(crumpled_paper_balls)": [
+        "observation(trash_can)"
+      ],
+      "observation(trash_can)": [
+        "mobile(trash_can_former)"
+      ],
+      "mobile(trash_can_former)": [
+        "move_to(crumpled_paper_balls, trash_can)"
+      ],
+      "move_to(crumpled_paper_balls, trash_can)": [
+        "place(crumpled_paper_balls, trash_can)"
+      ],
+      "place(crumpled_paper_balls, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_garbage_with_single_arm_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_0",
+    "actions_list": [
+      "mobile(flume_former)",
+      "move_to(none,watering_can_handle)",
+      "grasp(watering_can_handle)",
+      "pick_up(watering_can)",
+      "right:move_to(watering_can, flume)",
+      "place(watering_can,flume)",
+      "move_to(none,faucet_switch)",
+      "grasp(faucet_switch)",
+      "turn(faucet_switch,backward,state_of_open)",
+      "turn(faucet_switch,forward,state_of_close)",
+      "move_to(none,watering_can_handle)",
+      "grasp(watering_can_handle)",
+      "pick_up(watering_can)",
+      "observation(plant_on_table)",
+      "mobile(table_former)",
+      "move_to(watering_can, plant)",
+      "pour(watering_can,water, plant)",
+      "move_to(watering_can,table)",
+      "place(watering_can,table)"
+    ],
+    "gt_dag": {
+      "mobile(flume_former)": [
+        "move_to(none,watering_can_handle)"
+      ],
+      "move_to(none,watering_can_handle)": [
+        "grasp(watering_can_handle)"
+      ],
+      "grasp(watering_can_handle)": [
+        "pick_up(watering_can)"
+      ],
+      "pick_up(watering_can)": [
+        "right:move_to(watering_can, flume)"
+      ],
+      "right:move_to(watering_can, flume)": [
+        "place(watering_can,flume)"
+      ],
+      "place(watering_can,flume)": [
+        "move_to(none,faucet_switch)"
+      ],
+      "move_to(none,faucet_switch)": [
+        "grasp(faucet_switch)"
+      ],
+      "grasp(faucet_switch)": [
+        "turn(faucet_switch,backward,state_of_open)"
+      ],
+      "turn(faucet_switch,backward,state_of_open)": [
+        "turn(faucet_switch,forward,state_of_close)"
+      ],
+      "turn(faucet_switch,forward,state_of_close)": [
+        "move_to(none,watering_can_handle)<1>"
+      ],
+      "observation(plant_on_table)": [
+        "mobile(table_former)"
+      ],
+      "mobile(table_former)": [
+        "move_to(watering_can, plant)"
+      ],
+      "move_to(watering_can, plant)": [
+        "pour(watering_can,water, plant)"
+      ],
+      "pour(watering_can,water, plant)": [
+        "move_to(watering_can,table)"
+      ],
+      "move_to(watering_can,table)": [
+        "place(watering_can,table)"
+      ],
+      "place(watering_can,table)": [],
+      "move_to(none,watering_can_handle)<1>": [
+        "grasp(watering_can_handle)<1>"
+      ],
+      "grasp(watering_can_handle)<1>": [
+        "pick_up(watering_can)<1>"
+      ],
+      "pick_up(watering_can)<1>": [
+        "observation(plant_on_table)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_water_plant_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_water_from_refrigerator",
+    "actions_list": [
+      "mobile(refrigerator_former)",
+      "move_to(none, refrigerator)",
+      "grasp(refrigerator_handle)",
+      "pull(refrigerator,state_of_open)",
+      "observation(water_bottle)",
+      "move_to(water_bottle)",
+      "grasp(water_bottle)",
+      "pick_up(water_bottle)",
+      "move_to( water_bottle,refrigerator_handle)",
+      "grasp(refrigerator_handle)",
+      "push(refrigerator,state_of_close)",
+      "observation(table)",
+      "mobile( table_former)",
+      "move_to(water_botttle,table)",
+      "place(water_bottle,table)"
+    ],
+    "gt_dag": {
+      "mobile(refrigerator_former)": [
+        "move_to(none, refrigerator)"
+      ],
+      "move_to(none, refrigerator)": [
+        "grasp(refrigerator_handle)"
+      ],
+      "grasp(refrigerator_handle)": [
+        "pull(refrigerator,state_of_open)"
+      ],
+      "pull(refrigerator,state_of_open)": [
+        "observation(water_bottle)"
+      ],
+      "observation(water_bottle)": [
+        "move_to(water_bottle)"
+      ],
+      "move_to(water_bottle)": [
+        "grasp(water_bottle)"
+      ],
+      "grasp(water_bottle)": [
+        "pick_up(water_bottle)"
+      ],
+      "pick_up(water_bottle)": [
+        "move_to( water_bottle,refrigerator_handle)"
+      ],
+      "move_to( water_bottle,refrigerator_handle)": [
+        "grasp(refrigerator_handle)<1>"
+      ],
+      "push(refrigerator,state_of_close)": [
+        "observation(table)"
+      ],
+      "observation(table)": [
+        "mobile( table_former)"
+      ],
+      "mobile( table_former)": [
+        "move_to(water_botttle,table)"
+      ],
+      "move_to(water_botttle,table)": [
+        "place(water_bottle,table)"
+      ],
+      "place(water_bottle,table)": [],
+      "grasp(refrigerator_handle)<1>": [
+        "push(refrigerator,state_of_close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_take_water_from_refrigerator.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_1",
+    "actions_list": [
+      "move_to(none,faucet_switch)",
+      "grasp(faucet_switch)",
+      "turn(faucet_switch,backward,state_of_open)",
+      "turn(faucet_switch,forward,state_of_close)",
+      "move_to(none,watering_can_top)",
+      "grasp(watering_can_top)",
+      "pick_up(watering_can)",
+      "place(watering_can,sink_platform)",
+      "move_to(none,watering_can_handle)",
+      "grasp(watering_can_handle)",
+      "pick_up(watering_can)",
+      "observation(plant_on_table)",
+      "mobile(table_former)",
+      "move_to(watering_can, plant)",
+      "pour(watering_can,water, plant)",
+      "move_to(watering_can,table)",
+      "place(watering_can,table)"
+    ],
+    "gt_dag": {
+      "move_to(none,faucet_switch)": [
+        "grasp(faucet_switch)"
+      ],
+      "grasp(faucet_switch)": [
+        "turn(faucet_switch,backward,state_of_open)"
+      ],
+      "turn(faucet_switch,backward,state_of_open)": [
+        "turn(faucet_switch,forward,state_of_close)"
+      ],
+      "turn(faucet_switch,forward,state_of_close)": [
+        "move_to(none,watering_can_handle)"
+      ],
+      "move_to(none,watering_can_top)": [
+        "grasp(watering_can_top)"
+      ],
+      "grasp(watering_can_top)": [
+        "pick_up(watering_can)"
+      ],
+      "pick_up(watering_can)": [
+        "place(watering_can,sink_platform)"
+      ],
+      "place(watering_can,sink_platform)": [
+        "turn(faucet_switch,forward,state_of_close)"
+      ],
+      "grasp(watering_can_handle)": [
+        "pick_up(watering_can)<1>"
+      ],
+      "observation(plant_on_table)": [
+        "mobile(table_former)"
+      ],
+      "mobile(table_former)": [
+        "move_to(watering_can, plant)"
+      ],
+      "move_to(watering_can, plant)": [
+        "pour(watering_can,water, plant)"
+      ],
+      "pour(watering_can,water, plant)": [
+        "move_to(watering_can,table)"
+      ],
+      "move_to(watering_can,table)": [
+        "place(watering_can,table)"
+      ],
+      "place(watering_can,table)": [],
+      "pick_up(watering_can)<1>": [
+        "observation(plant_on_table)"
+      ],
+      "move_to(none,watering_can_handle)": [
+        "grasp(watering_can_handle)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_water_plant_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_2",
+    "actions_list": [
+      "mobile(table_former)",
+      "move_to(none, crumpled_paper_balls)",
+      "grasp(crumpled_paper_balls)",
+      "pick_up(crumpled_paper_balls)",
+      "observation(trash_bin)",
+      "mobile(trash_bin_former)",
+      "move_to(crumpled_paper_balls, trash_bin)",
+      "place(crumpled_paper, trash_bin)"
+    ],
+    "gt_dag": {
+      "mobile(table_former)": [
+        "move_to(none, crumpled_paper_balls)"
+      ],
+      "move_to(none, crumpled_paper_balls)": [
+        "grasp(crumpled_paper_balls)"
+      ],
+      "grasp(crumpled_paper_balls)": [
+        "pick_up(crumpled_paper_balls)"
+      ],
+      "pick_up(crumpled_paper_balls)": [
+        "observation(trash_bin)"
+      ],
+      "observation(trash_bin)": [
+        "mobile(trash_bin_former)"
+      ],
+      "mobile(trash_bin_former)": [
+        "move_to(crumpled_paper_balls, trash_bin)"
+      ],
+      "move_to(crumpled_paper_balls, trash_bin)": [
+        "place(crumpled_paper, trash_bin)"
+      ],
+      "place(crumpled_paper, trash_bin)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_garbage_with_single_arm_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_bread_from_oven",
+    "actions_list": [
+      "mobile(microwave_oven_on_cupboard_former)",
+      "move_to(none,microwave_oven_door)",
+      "grasp(microwave_oven_door_handle)",
+      "pull(microwave_oven_door,state_of_open)",
+      "observation(bread)",
+      "move_to(none, bread)",
+      "grasp(bread)",
+      "pick_up(bread)",
+      "move_to(bread,microwave_oven_door_handle)",
+      "grasp(microwave_oven_door_handle)",
+      "push(microwave_oven_door,state_of_close)",
+      "observation(basket_on_the_table)",
+      "mobile(table_former)",
+      "move_to(bread, basket)",
+      "place(bread, basket)"
+    ],
+    "gt_dag": {
+      "mobile(microwave_oven_on_cupboard_former)": [
+        "move_to(none,microwave_oven_door)"
+      ],
+      "move_to(none,microwave_oven_door)": [
+        "grasp(microwave_oven_door_handle)"
+      ],
+      "grasp(microwave_oven_door_handle)": [
+        "pull(microwave_oven_door,state_of_open)"
+      ],
+      "pull(microwave_oven_door,state_of_open)": [
+        "observation(bread)"
+      ],
+      "observation(bread)": [
+        "move_to(none, bread)"
+      ],
+      "move_to(none, bread)": [
+        "grasp(bread)"
+      ],
+      "grasp(bread)": [
+        "pick_up(bread)"
+      ],
+      "pick_up(bread)": [
+        "move_to(bread,microwave_oven_door_handle)"
+      ],
+      "move_to(bread,microwave_oven_door_handle)": [
+        "grasp(microwave_oven_door_handle)<1>"
+      ],
+      "push(microwave_oven_door,state_of_close)": [
+        "observation(basket_on_the_table)"
+      ],
+      "observation(basket_on_the_table)": [
+        "mobile(table_former)"
+      ],
+      "mobile(table_former)": [
+        "move_to(bread, basket)"
+      ],
+      "move_to(bread, basket)": [
+        "place(bread, basket)"
+      ],
+      "place(bread, basket)": [],
+      "grasp(microwave_oven_door_handle)<1>": [
+        "push(microwave_oven_door,state_of_close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_take_bread_from_oven.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_dual_arm_0",
+    "actions_list": [
+      "left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper)",
+      "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)",
+      "left:pick_up(paper_ball),right:pick_up(paper_ball)",
+      "observation(trash_can)",
+      "mobile(trash_can_former)",
+      "left:move_to(paper_ball, trash_can), right:move_to(paper_ball, trash_can)",
+      "left:place(paper_ball, trash_can),right:place(paper_ball, trash_can)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper)": [
+        "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)"
+      ],
+      "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)": [
+        "left:pick_up(paper_ball),right:pick_up(paper_ball)"
+      ],
+      "left:pick_up(paper_ball),right:pick_up(paper_ball)": [
+        "observation(trash_can)"
+      ],
+      "observation(trash_can)": [
+        "mobile(trash_can_former)"
+      ],
+      "mobile(trash_can_former)": [
+        "left:move_to(paper_ball, trash_can), right:move_to(paper_ball, trash_can)"
+      ],
+      "left:move_to(paper_ball, trash_can), right:move_to(paper_ball, trash_can)": [
+        "left:place(paper_ball, trash_can),right:place(paper_ball, trash_can)"
+      ],
+      "left:place(paper_ball, trash_can),right:place(paper_ball, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_garbage_with_dual_arm_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_off_the_letter_C",
+    "actions_list": [
+      "mobile(marker_holder_on_whiteboard_former)",
+      "move_to(none,whiteboard_eraser)",
+      "grasp(whiteboard_eraser)",
+      "pick_up(whiteboard_eraser)",
+      "observation(letter_'c'_right_of_letter_'b')",
+      "mobile(letter_'c'_right_of_letter_'b'_on_whiteboard_former)",
+      "right:move_to(whiteboard_eraser, letter_'c'_right_letter_'b')",
+      "grasp(letter_'c'_right_letter_'b')",
+      "wipe(whiteboard_eraser, letter_'c',right_letter_'b'_on_whiteboard)",
+      "observation(marker_holder_on_whiteboard)",
+      "mobile(marker_holder_on_whiteboard_former)",
+      "right:move_to(whiteboard_eraser, marker_holder_on_whiteboard)",
+      "right:place(whiteboard_eraser, marker_holder)"
+    ],
+    "gt_dag": {
+      "mobile(marker_holder_on_whiteboard_former)": [
+        "move_to(none,whiteboard_eraser)"
+      ],
+      "move_to(none,whiteboard_eraser)": [
+        "grasp(whiteboard_eraser)"
+      ],
+      "grasp(whiteboard_eraser)": [],
+      "pick_up(whiteboard_eraser)": [
+        "observation(letter_'c'_right_of_letter_'b')"
+      ],
+      "observation(letter_'c'_right_of_letter_'b')": [
+        "mobile(letter_'c'_right_of_letter_'b'_on_whiteboard_former)"
+      ],
+      "mobile(letter_'c'_right_of_letter_'b'_on_whiteboard_former)": [
+        "right:move_to(whiteboard_eraser, letter_'c'_right_letter_'b')"
+      ],
+      "right:move_to(whiteboard_eraser, letter_'c'_right_letter_'b')": [
+        "grasp(letter_'c'_right_letter_'b')"
+      ],
+      "grasp(letter_'c'_right_letter_'b')": [
+        "wipe(whiteboard_eraser, letter_'c',right_letter_'b'_on_whiteboard)"
+      ],
+      "wipe(whiteboard_eraser, letter_'c',right_letter_'b'_on_whiteboard)": [
+        "observation(marker_holder_on_whiteboard)"
+      ],
+      "observation(marker_holder_on_whiteboard)": [
+        "mobile(marker_holder_on_whiteboard_former)<1>"
+      ],
+      "right:move_to(whiteboard_eraser, marker_holder_on_whiteboard)": [
+        "right:place(whiteboard_eraser, marker_holder)"
+      ],
+      "right:place(whiteboard_eraser, marker_holder)": [],
+      "mobile(marker_holder_on_whiteboard_former)<1>": [
+        "right:move_to(whiteboard_eraser, marker_holder_on_whiteboard)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_wipe_off_the_letter_C.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_dual_arm_4",
+    "actions_list": [
+      "left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper)",
+      "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)",
+      "left:pick_up(paper_ball),right:pick_up(paper_ball)",
+      "observation(trash_can)",
+      "mobile(trash_can_former)",
+      "left:move_to(paper_ball, trash_can), right:move_to(paper_ball, trash_can)",
+      "left:place(paper_ball, trash_can),right:place(paper_ball, trash_can)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper)": [
+        "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)"
+      ],
+      "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)": [
+        "left:pick_up(paper_ball),right:pick_up(paper_ball)"
+      ],
+      "left:pick_up(paper_ball),right:pick_up(paper_ball)": [
+        "observation(trash_can)"
+      ],
+      "observation(trash_can)": [
+        "mobile(trash_can_former)"
+      ],
+      "mobile(trash_can_former)": [
+        "left:move_to(paper_ball, trash_can), right:move_to(paper_ball, trash_can)"
+      ],
+      "left:move_to(paper_ball, trash_can), right:move_to(paper_ball, trash_can)": [
+        "left:place(paper_ball, trash_can),right:place(paper_ball, trash_can)"
+      ],
+      "left:place(paper_ball, trash_can),right:place(paper_ball, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_garbage_with_dual_arm_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_dual_arm_2",
+    "actions_list": [
+      "left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper)",
+      "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)",
+      "left:pick_up(paper_ball),right:pick_up(paper_ball)",
+      "observation(trash_bin)",
+      "mobile(trash_bin_former)",
+      "left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin)",
+      "left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper)": [
+        "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)"
+      ],
+      "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)": [
+        "left:pick_up(paper_ball),right:pick_up(paper_ball)"
+      ],
+      "left:pick_up(paper_ball),right:pick_up(paper_ball)": [
+        "observation(trash_bin)"
+      ],
+      "observation(trash_bin)": [
+        "mobile(trash_bin_former)"
+      ],
+      "mobile(trash_bin_former)": [
+        "left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin)"
+      ],
+      "left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin)": [
+        "left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)"
+      ],
+      "left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_garbage_with_dual_arm_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/stick_sticky_note",
+    "actions_list": [
+      "left:no_ops,right:move_to(none,basket_handle)",
+      "left:no_opsright:grasp(basket_handle)",
+      "left:no_opsright:pull(basket,open)",
+      "right:move_to(none,sticky_note),left:no_ops",
+      "right:grasp(sticky_note),left:no_ops",
+      "right:pick_up(sticky_note),left:no_ops",
+      "right:no_ops,left:move_to(none,basket_handle)",
+      "right:no_ops,left:grasp(basket_handle)",
+      "right:no_ops,left:push(basket_handle,close)",
+      "observation(small_blackboard)",
+      "mobile(blackboard_former)",
+      "right:move_to(sticky_note, blackboard),left:no_ops",
+      "right:place(sticky_note, blackboard),left:no_ops"
+    ],
+    "gt_dag": {
+      "left:no_ops,right:move_to(none,basket_handle)": [
+        "left:no_opsright:grasp(basket_handle)"
+      ],
+      "left:no_opsright:grasp(basket_handle)": [
+        "left:no_opsright:pull(basket,open)"
+      ],
+      "left:no_opsright:pull(basket,open)": [
+        "right:move_to(none,sticky_note),left:no_ops"
+      ],
+      "right:move_to(none,sticky_note),left:no_ops": [
+        "right:grasp(sticky_note),left:no_ops"
+      ],
+      "right:grasp(sticky_note),left:no_ops": [
+        "right:pick_up(sticky_note),left:no_ops"
+      ],
+      "right:pick_up(sticky_note),left:no_ops": [
+        "right:no_ops,left:move_to(none,basket_handle)"
+      ],
+      "right:no_ops,left:move_to(none,basket_handle)": [
+        "right:no_ops,left:grasp(basket_handle)"
+      ],
+      "right:no_ops,left:grasp(basket_handle)": [
+        "right:no_ops,left:push(basket_handle,close)"
+      ],
+      "right:no_ops,left:push(basket_handle,close)": [
+        "observation(small_blackboard)"
+      ],
+      "observation(small_blackboard)": [
+        "mobile(blackboard_former)"
+      ],
+      "mobile(blackboard_former)": [
+        "right:move_to(sticky_note, blackboard),left:no_ops"
+      ],
+      "right:move_to(sticky_note, blackboard),left:no_ops": [
+        "right:place(sticky_note, blackboard),left:no_ops"
+      ],
+      "right:place(sticky_note, blackboard),left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_stick_sticky_note.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_coke_from_refrigerator_1",
+    "actions_list": [
+      "mobile(refrigerator_former)",
+      "move_to(none, refrigerator_handle)",
+      "grasp(refrigerator_handle)",
+      "pull(refrigerator,state_of_open)",
+      "observation(coke_bottle)",
+      "move_to(coke_bottle)",
+      "grasp(coke_bottle)",
+      "pick_up(coke_bottle)",
+      "move_to( coke_bottle,refrigerator_handle)",
+      "grasp(refrigerator_handle)",
+      "push(refrigerator,state_of_close)",
+      "observation(table)",
+      "mobile( table_former)",
+      "move_to(coke_botttle,table)",
+      "place(coke_bottle,table)"
+    ],
+    "gt_dag": {
+      "mobile(refrigerator_former)": [
+        "move_to(none, refrigerator_handle)"
+      ],
+      "move_to(none, refrigerator_handle)": [
+        "grasp(refrigerator_handle)"
+      ],
+      "grasp(refrigerator_handle)": [
+        "pull(refrigerator,state_of_open)"
+      ],
+      "pull(refrigerator,state_of_open)": [
+        "observation(coke_bottle)"
+      ],
+      "observation(coke_bottle)": [
+        "move_to(coke_bottle)"
+      ],
+      "move_to(coke_bottle)": [
+        "grasp(coke_bottle)"
+      ],
+      "grasp(coke_bottle)": [
+        "pick_up(coke_bottle)"
+      ],
+      "pick_up(coke_bottle)": [
+        "move_to( coke_bottle,refrigerator_handle)"
+      ],
+      "move_to( coke_bottle,refrigerator_handle)": [
+        "grasp(refrigerator_handle)<1>"
+      ],
+      "push(refrigerator,state_of_close)": [
+        "observation(table)"
+      ],
+      "observation(table)": [
+        "mobile( table_former)"
+      ],
+      "mobile( table_former)": [
+        "move_to(coke_botttle,table)"
+      ],
+      "move_to(coke_botttle,table)": [
+        "place(coke_bottle,table)"
+      ],
+      "place(coke_bottle,table)": [],
+      "grasp(refrigerator_handle)<1>": [
+        "push(refrigerator,state_of_close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_take_coke_from_refrigerator_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_table_and_throw",
+    "actions_list": [
+      "move_to(none, tissue_box)",
+      "grasp(tissue)",
+      "pullout(tissue,tissue_box)",
+      "wipe(tissue,water,table)",
+      "observation(trash_can)",
+      "mobile(trash_can_former)",
+      "move_to(tissue,trash_can)",
+      "place(tissue,trash_can)"
+    ],
+    "gt_dag": {
+      "move_to(none, tissue_box)": [
+        "grasp(tissue)"
+      ],
+      "grasp(tissue)": [
+        "pullout(tissue,tissue_box)"
+      ],
+      "pullout(tissue,tissue_box)": [
+        "wipe(tissue,water,table)"
+      ],
+      "wipe(tissue,water,table)": [
+        "observation(trash_can)"
+      ],
+      "observation(trash_can)": [
+        "mobile(trash_can_former)"
+      ],
+      "mobile(trash_can_former)": [
+        "move_to(tissue,trash_can)"
+      ],
+      "move_to(tissue,trash_can)": [
+        "place(tissue,trash_can)"
+      ],
+      "place(tissue,trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_wipe_table_and_throw.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/hang_cloth",
+    "actions_list": [
+      "mobile(clothes_on_table_former)",
+      "move_to(none,hanger_of_the_cloth)",
+      "grasp(hanger_of_the_cloth)",
+      "pick_up(clothes)",
+      "observation(coat_rack)",
+      "mobile(coat_rack_former)",
+      "move_to(cloth, coat_rack)",
+      "place(cloth, coat_rack)"
+    ],
+    "gt_dag": {
+      "mobile(clothes_on_table_former)": [
+        "move_to(none,hanger_of_the_cloth)"
+      ],
+      "move_to(none,hanger_of_the_cloth)": [
+        "grasp(hanger_of_the_cloth)"
+      ],
+      "grasp(hanger_of_the_cloth)": [
+        "pick_up(clothes)"
+      ],
+      "pick_up(clothes)": [
+        "observation(coat_rack)"
+      ],
+      "observation(coat_rack)": [
+        "mobile(coat_rack_former)"
+      ],
+      "mobile(coat_rack_former)": [
+        "move_to(cloth, coat_rack)"
+      ],
+      "move_to(cloth, coat_rack)": [
+        "place(cloth, coat_rack)"
+      ],
+      "place(cloth, coat_rack)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_hang_cloth.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/unhang_cloth",
+    "actions_list": [
+      "mobile(coat_rack_former)",
+      "move_to(none, top_hanging_cloth_support)",
+      "grasp(top_hanging_cloth_support)",
+      "pick_up(clothes)",
+      "observation(table)",
+      "mobile(table_left)",
+      "move_to(clothes,table)",
+      "place(clothes,table)"
+    ],
+    "gt_dag": {
+      "mobile(coat_rack_former)": [
+        "move_to(none, top_hanging_cloth_support)"
+      ],
+      "move_to(none, top_hanging_cloth_support)": [
+        "grasp(top_hanging_cloth_support)"
+      ],
+      "grasp(top_hanging_cloth_support)": [
+        "pick_up(clothes)"
+      ],
+      "pick_up(clothes)": [
+        "observation(table)"
+      ],
+      "observation(table)": [
+        "mobile(table_left)"
+      ],
+      "mobile(table_left)": [
+        "move_to(clothes,table)"
+      ],
+      "move_to(clothes,table)": [
+        "place(clothes,table)"
+      ],
+      "place(clothes,table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_unhang_cloth.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/collect_cold_medicine_into_chest",
+    "actions_list": [
+      "right:no_ops,left:move_to(none, cold_medicine_box)",
+      "right:no_ops, left:grasp(cold_medicine_box)",
+      "right:no_ops,left:pick_up(cold_medicine_box)",
+      "observation(organizer_box)",
+      "mobile(organizer box)",
+      "right:move_to(none,organizer_box_lower_right_handle), left:no_ops",
+      "right:grasp(organizer_box_lower_right_handle), left:no_ops",
+      "right:pull(organizer_box_lower_right_handle,open),left:no_ops",
+      "right:no_ops,left:move_to(cold_medicine_box,organizer_box)",
+      "right:no_ops,left:place(cold_medicine_box,organizer_box)",
+      "right:push(organizer_box_lower_right_handle,close),left:no_ops"
+    ],
+    "gt_dag": {
+      "right:no_ops,left:move_to(none, cold_medicine_box)": [
+        "right:no_ops, left:grasp(cold_medicine_box)"
+      ],
+      "right:no_ops, left:grasp(cold_medicine_box)": [
+        "right:no_ops,left:pick_up(cold_medicine_box)"
+      ],
+      "right:no_ops,left:pick_up(cold_medicine_box)": [
+        "observation(organizer_box)"
+      ],
+      "observation(organizer_box)": [
+        "mobile(organizer box)"
+      ],
+      "mobile(organizer box)": [
+        "right:move_to(none,organizer_box_lower_right_handle), left:no_ops"
+      ],
+      "right:move_to(none,organizer_box_lower_right_handle), left:no_ops": [
+        "right:grasp(organizer_box_lower_right_handle), left:no_ops"
+      ],
+      "right:grasp(organizer_box_lower_right_handle), left:no_ops": [
+        "right:pull(organizer_box_lower_right_handle,open),left:no_ops"
+      ],
+      "right:pull(organizer_box_lower_right_handle,open),left:no_ops": [
+        "right:no_ops,left:move_to(cold_medicine_box,organizer_box)"
+      ],
+      "right:no_ops,left:move_to(cold_medicine_box,organizer_box)": [
+        "right:no_ops,left:place(cold_medicine_box,organizer_box)"
+      ],
+      "right:no_ops,left:place(cold_medicine_box,organizer_box)": [
+        "right:push(organizer_box_lower_right_handle,close),left:no_ops"
+      ],
+      "right:push(organizer_box_lower_right_handle,close),left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_collect_cold_medicine_into_chest.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_pen_into_container",
+    "actions_list": [
+      "mobile(table_left)",
+      "move_to(none,pen)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen,pen_basket)",
+      "place(pen, pen_basket)"
+    ],
+    "gt_dag": {
+      "mobile(table_left)": [
+        "move_to(none,pen)"
+      ],
+      "move_to(none,pen)": [
+        "grasp(pen)"
+      ],
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen,pen_basket)"
+      ],
+      "move_to(pen,pen_basket)": [
+        "place(pen, pen_basket)"
+      ],
+      "place(pen, pen_basket)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_take_pen_into_container.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_pear_from_refrigerator",
+    "actions_list": [
+      "mobile(refrigerator_former)",
+      "move_to(none, refrigerator_handle)",
+      "grasp(refrigerator_handle)",
+      "pull(refrigerator,state_of_open)",
+      "observation(pear)",
+      "move_to(pear)",
+      "grasp(pear)",
+      "pick_up(pear)",
+      "move_to( pear,refrigerator_handle)",
+      "grasp(refrigerator_handle)",
+      "push(refrigerator,state_of_close)",
+      "observation(table)",
+      "mobile( table_former)",
+      "move_to(pear, table_and_basket)",
+      "place(pear, table_and_basket)"
+    ],
+    "gt_dag": {
+      "mobile(refrigerator_former)": [
+        "move_to(none, refrigerator_handle)"
+      ],
+      "move_to(none, refrigerator_handle)": [
+        "grasp(refrigerator_handle)"
+      ],
+      "grasp(refrigerator_handle)": [
+        "pull(refrigerator,state_of_open)"
+      ],
+      "pull(refrigerator,state_of_open)": [
+        "observation(pear)"
+      ],
+      "observation(pear)": [
+        "move_to(pear)"
+      ],
+      "move_to(pear)": [
+        "grasp(pear)"
+      ],
+      "grasp(pear)": [
+        "pick_up(pear)"
+      ],
+      "pick_up(pear)": [
+        "move_to( pear,refrigerator_handle)"
+      ],
+      "move_to( pear,refrigerator_handle)": [
+        "grasp(refrigerator_handle)<1>"
+      ],
+      "push(refrigerator,state_of_close)": [
+        "observation(table)"
+      ],
+      "observation(table)": [
+        "mobile( table_former)"
+      ],
+      "mobile( table_former)": [
+        "move_to(pear, table_and_basket)"
+      ],
+      "move_to(pear, table_and_basket)": [
+        "place(pear, table_and_basket)"
+      ],
+      "place(pear, table_and_basket)": [],
+      "grasp(refrigerator_handle)<1>": [
+        "push(refrigerator,state_of_close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_take_pear_from_refrigerator.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/serve_coffee",
+    "actions_list": [
+      "mobile(coffee_machine_fermor)",
+      "move_to(none, coffee_cup)",
+      "grasp(coffee_cup)",
+      "pick_up(coffee_cup)",
+      "observation(table)",
+      "mobile(table_former)",
+      "move_to(coffee_cup,table)",
+      "place(coffee_cup, table)"
+    ],
+    "gt_dag": {
+      "mobile(coffee_machine_fermor)": [
+        "move_to(none, coffee_cup)"
+      ],
+      "move_to(none, coffee_cup)": [
+        "grasp(coffee_cup)"
+      ],
+      "grasp(coffee_cup)": [
+        "pick_up(coffee_cup)"
+      ],
+      "pick_up(coffee_cup)": [
+        "observation(table)"
+      ],
+      "observation(table)": [
+        "mobile(table_former)"
+      ],
+      "mobile(table_former)": [
+        "move_to(coffee_cup,table)"
+      ],
+      "move_to(coffee_cup,table)": [
+        "place(coffee_cup, table)"
+      ],
+      "place(coffee_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_serve_coffee.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/prepare_cold_medicine",
+    "actions_list": [
+      "mobile(storage_box)",
+      "right:move_to(none, storage_box_handle),left:no_ops",
+      "right:grasp(storage_box_handle),left:no_ops",
+      "right:pull(storage_box_handle,open),left:no_ops",
+      "right:move_to(none,cold_medicine_box),left:no_ops",
+      "right:grasp(cold_medicine_box),left:no_ops",
+      "right:pick_up(cold_medicine_box),left:move_to(none,cold_medicine_box_top)",
+      "right:hold(cold_medicine_box),left:grasp(cold_medicine)",
+      "right:hold(cold_medicine_box),left:pick_up(cold_medicine)",
+      "right:move_to(cold_medicine_box,storage_box),left:hold(cold_medicine)",
+      "right:place(cold_medicine_box,storage_box),left:hold(cold_medicine)",
+      "right:move_to(none,storage_box_handle),left:hold(cold_medicine)",
+      "right:grasp(storage_box_handle),left:hold(cold_medicine)",
+      "right:push(storage_box_handle,close),left:hold(cold_medicine)",
+      "observation(paper_cup_on_table)",
+      "mobile(table_former)",
+      "right:no_ops,left:move(cold_medicine,paper_cup)",
+      "right:no_ops,left:place(cold_medicine, paper_cup)"
+    ],
+    "gt_dag": {
+      "mobile(storage_box)": [
+        "right:move_to(none, storage_box_handle),left:no_ops"
+      ],
+      "right:move_to(none, storage_box_handle),left:no_ops": [
+        "right:grasp(storage_box_handle),left:no_ops"
+      ],
+      "right:grasp(storage_box_handle),left:no_ops": [
+        "right:pull(storage_box_handle,open),left:no_ops"
+      ],
+      "right:pull(storage_box_handle,open),left:no_ops": [
+        "right:move_to(none,cold_medicine_box),left:no_ops"
+      ],
+      "right:move_to(none,cold_medicine_box),left:no_ops": [
+        "right:grasp(cold_medicine_box),left:no_ops"
+      ],
+      "right:grasp(cold_medicine_box),left:no_ops": [
+        "right:pick_up(cold_medicine_box),left:move_to(none,cold_medicine_box_top)"
+      ],
+      "right:pick_up(cold_medicine_box),left:move_to(none,cold_medicine_box_top)": [
+        "right:hold(cold_medicine_box),left:grasp(cold_medicine)"
+      ],
+      "right:hold(cold_medicine_box),left:grasp(cold_medicine)": [
+        "right:hold(cold_medicine_box),left:pick_up(cold_medicine)"
+      ],
+      "right:hold(cold_medicine_box),left:pick_up(cold_medicine)": [
+        "right:move_to(cold_medicine_box,storage_box),left:hold(cold_medicine)"
+      ],
+      "right:move_to(cold_medicine_box,storage_box),left:hold(cold_medicine)": [
+        "right:place(cold_medicine_box,storage_box),left:hold(cold_medicine)"
+      ],
+      "right:place(cold_medicine_box,storage_box),left:hold(cold_medicine)": [
+        "right:move_to(none,storage_box_handle),left:hold(cold_medicine)"
+      ],
+      "right:move_to(none,storage_box_handle),left:hold(cold_medicine)": [
+        "right:grasp(storage_box_handle),left:hold(cold_medicine)"
+      ],
+      "right:grasp(storage_box_handle),left:hold(cold_medicine)": [
+        "right:push(storage_box_handle,close),left:hold(cold_medicine)"
+      ],
+      "right:push(storage_box_handle,close),left:hold(cold_medicine)": [
+        "observation(paper_cup_on_table)"
+      ],
+      "observation(paper_cup_on_table)": [
+        "mobile(table_former)"
+      ],
+      "mobile(table_former)": [
+        "right:no_ops,left:move(cold_medicine,paper_cup)"
+      ],
+      "right:no_ops,left:move(cold_medicine,paper_cup)": [
+        "right:no_ops,left:place(cold_medicine, paper_cup)"
+      ],
+      "right:no_ops,left:place(cold_medicine, paper_cup)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_prepare_cold_medicine.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/pour_water",
+    "actions_list": [
+      "right:move_to(none, water_bottle),left:no_ops",
+      "right:grasp(water_bottle),left:no_ops",
+      "right:pick_up(water_bottle),left:no_ops",
+      "observation(paper_cup)",
+      "mobile(paper_cup_on_table_former)",
+      "left:move_to(none, bottle_cap),right:hold(water_bottle)",
+      "left:grasp(bottle_cap),right:hold(water_bottle)",
+      "right:hold(water_bottle),left:turn(bottle_cap,anticlockwise,state_of_open)",
+      "right:move_to(water_bottle,paper_cup_top),left:move_to(bottle_cap,paper_cup_left)",
+      "right:right:hold(water_bottle),left:place(bottle_cap,paper_cup_left)",
+      "right:pour(water_bottle, water,paper_cup),left:no_ops",
+      "right:move_to(water_bottle,paper_cup_right),left:no_ops",
+      "right:place(water_bottle, table),left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, water_bottle),left:no_ops": [
+        "right:grasp(water_bottle),left:no_ops"
+      ],
+      "right:grasp(water_bottle),left:no_ops": [
+        "right:pick_up(water_bottle),left:no_ops"
+      ],
+      "right:pick_up(water_bottle),left:no_ops": [
+        "observation(paper_cup)"
+      ],
+      "observation(paper_cup)": [
+        "mobile(paper_cup_on_table_former)"
+      ],
+      "mobile(paper_cup_on_table_former)": [
+        "left:move_to(none, bottle_cap),right:hold(water_bottle)"
+      ],
+      "left:move_to(none, bottle_cap),right:hold(water_bottle)": [
+        "left:grasp(bottle_cap),right:hold(water_bottle)"
+      ],
+      "left:grasp(bottle_cap),right:hold(water_bottle)": [
+        "right:hold(water_bottle),left:turn(bottle_cap,anticlockwise,state_of_open)"
+      ],
+      "right:hold(water_bottle),left:turn(bottle_cap,anticlockwise,state_of_open)": [
+        "right:move_to(water_bottle,paper_cup_top),left:move_to(bottle_cap,paper_cup_left)"
+      ],
+      "right:move_to(water_bottle,paper_cup_top),left:move_to(bottle_cap,paper_cup_left)": [
+        "right:right:hold(water_bottle),left:place(bottle_cap,paper_cup_left)"
+      ],
+      "right:right:hold(water_bottle),left:place(bottle_cap,paper_cup_left)": [
+        "right:pour(water_bottle, water,paper_cup),left:no_ops"
+      ],
+      "right:pour(water_bottle, water,paper_cup),left:no_ops": [
+        "right:move_to(water_bottle,paper_cup_right),left:no_ops"
+      ],
+      "right:move_to(water_bottle,paper_cup_right),left:no_ops": [
+        "right:place(water_bottle, table),left:no_ops"
+      ],
+      "right:place(water_bottle, table),left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_pour_water.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/prepare_black_tea",
+    "actions_list": [
+      "left:move_to(none,lid_of_the_tea_box),right:no_ops",
+      "left:grasp(lid_of_the_tea_box),right:no_ops",
+      "left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops",
+      "right:move_to(none, tea_box)",
+      "right:grasp(yellow_tea_bag),left:no_ops",
+      "right:pick_up(tea_bag),left:no_ops",
+      "observation(paper_cup)",
+      "mobile(table)",
+      "right:move_to(tea_bag, cup_on_the_table),left:no_ops",
+      "right:place(tea_bag, cup_on_the_table),left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,lid_of_the_tea_box),right:no_ops": [
+        "left:grasp(lid_of_the_tea_box),right:no_ops"
+      ],
+      "left:grasp(lid_of_the_tea_box),right:no_ops": [
+        "left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops"
+      ],
+      "left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops": [
+        "right:move_to(none, tea_box)"
+      ],
+      "right:move_to(none, tea_box)": [
+        "right:grasp(yellow_tea_bag),left:no_ops"
+      ],
+      "right:grasp(yellow_tea_bag),left:no_ops": [
+        "right:pick_up(tea_bag),left:no_ops"
+      ],
+      "right:pick_up(tea_bag),left:no_ops": [
+        "observation(paper_cup)"
+      ],
+      "observation(paper_cup)": [
+        "mobile(table)"
+      ],
+      "mobile(table)": [
+        "right:move_to(tea_bag, cup_on_the_table),left:no_ops"
+      ],
+      "right:move_to(tea_bag, cup_on_the_table),left:no_ops": [
+        "right:place(tea_bag, cup_on_the_table),left:no_ops"
+      ],
+      "right:place(tea_bag, cup_on_the_table),left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_prepare_black_tea.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/prepare_green_tea",
+    "actions_list": [
+      "left:move_to(none,lid_of_the_tea_box),right:no_ops",
+      "left:grasp(lid_of_the_tea_box),right:no_ops",
+      "left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops",
+      "right:move_to(none, tea_box)",
+      "right:grasp(green_tea_bag),left:no_ops",
+      "right:pick_up(tea_bag),left:no_ops",
+      "observation(paper_cup)",
+      "mobile(table)",
+      "right:move_to(tea_bag, cup_on_the_table),left:no_ops",
+      "right:place(tea_bag, cup_on_the_table),left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,lid_of_the_tea_box),right:no_ops": [
+        "left:grasp(lid_of_the_tea_box),right:no_ops"
+      ],
+      "left:grasp(lid_of_the_tea_box),right:no_ops": [
+        "left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops"
+      ],
+      "left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops": [
+        "right:move_to(none, tea_box)"
+      ],
+      "right:move_to(none, tea_box)": [
+        "right:grasp(green_tea_bag),left:no_ops"
+      ],
+      "right:grasp(green_tea_bag),left:no_ops": [
+        "right:pick_up(tea_bag),left:no_ops"
+      ],
+      "right:pick_up(tea_bag),left:no_ops": [
+        "observation(paper_cup)"
+      ],
+      "observation(paper_cup)": [
+        "mobile(table)"
+      ],
+      "mobile(table)": [
+        "right:move_to(tea_bag, cup_on_the_table),left:no_ops"
+      ],
+      "right:move_to(tea_bag, cup_on_the_table),left:no_ops": [
+        "right:place(tea_bag, cup_on_the_table),left:no_ops"
+      ],
+      "right:place(tea_bag, cup_on_the_table),left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_prepare_green_tea.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_4",
+    "actions_list": [
+      "mobile(table_former)",
+      "move_to(none, crumpled_paper_balls)",
+      "grasp(crumpled_paper_balls)",
+      "pick_up(crumpled_paper_balls)",
+      "observation(trash_bin)",
+      "mobile(trash_bin_former)",
+      "move_to(crumpled_paper_balls, trash_bin)",
+      "place(crumpled_paper, trash_bin)"
+    ],
+    "gt_dag": {
+      "mobile(table_former)": [
+        "move_to(none, crumpled_paper_balls)"
+      ],
+      "move_to(none, crumpled_paper_balls)": [
+        "grasp(crumpled_paper_balls)"
+      ],
+      "grasp(crumpled_paper_balls)": [
+        "pick_up(crumpled_paper_balls)"
+      ],
+      "pick_up(crumpled_paper_balls)": [
+        "observation(trash_bin)"
+      ],
+      "observation(trash_bin)": [
+        "mobile(trash_bin_former)"
+      ],
+      "mobile(trash_bin_former)": [
+        "move_to(crumpled_paper_balls, trash_bin)"
+      ],
+      "move_to(crumpled_paper_balls, trash_bin)": [
+        "place(crumpled_paper, trash_bin)"
+      ],
+      "place(crumpled_paper, trash_bin)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_garbage_with_single_arm_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_coke_from_refrigerator",
+    "actions_list": [
+      "mobile(refrigerator_former)",
+      "move_to(none, refrigerator_handle)",
+      "grasp(refrigerator_handle)",
+      "pull(refrigerator,state_of_open)",
+      "observation(coke_bottle)",
+      "move_to(coke_bottle)",
+      "grasp(coke_bottle)",
+      "pick_up(coke_bottle)",
+      "move_to( coke_bottle,refrigerator_handle)",
+      "grasp(refrigerator_handle)",
+      "push(refrigerator,state_of_close)",
+      "observation(table)",
+      "mobile( table_former)",
+      "move_to(coke_botttle,table)",
+      "place(coke_bottle,table)"
+    ],
+    "gt_dag": {
+      "mobile(refrigerator_former)": [
+        "move_to(none, refrigerator_handle)"
+      ],
+      "move_to(none, refrigerator_handle)": [
+        "grasp(refrigerator_handle)"
+      ],
+      "grasp(refrigerator_handle)": [
+        "pull(refrigerator,state_of_open)"
+      ],
+      "pull(refrigerator,state_of_open)": [
+        "observation(coke_bottle)"
+      ],
+      "observation(coke_bottle)": [
+        "move_to(coke_bottle)"
+      ],
+      "move_to(coke_bottle)": [
+        "grasp(coke_bottle)"
+      ],
+      "grasp(coke_bottle)": [
+        "pick_up(coke_bottle)"
+      ],
+      "pick_up(coke_bottle)": [
+        "move_to( coke_bottle,refrigerator_handle)"
+      ],
+      "move_to( coke_bottle,refrigerator_handle)": [
+        "grasp(refrigerator_handle)<1>"
+      ],
+      "push(refrigerator,state_of_close)": [
+        "observation(table)"
+      ],
+      "observation(table)": [
+        "mobile( table_former)"
+      ],
+      "mobile( table_former)": [
+        "move_to(coke_botttle,table)"
+      ],
+      "move_to(coke_botttle,table)": [
+        "place(coke_bottle,table)"
+      ],
+      "place(coke_bottle,table)": [],
+      "grasp(refrigerator_handle)<1>": [
+        "push(refrigerator,state_of_close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_take_coke_from_refrigerator.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_2",
+    "actions_list": [
+      "move_to(none,faucet_switch)",
+      "grasp(faucet_switch)",
+      "turn(faucet_switch,backward,state_of_open)",
+      "turn(faucet_switch,forward,state_of_close)",
+      "move_to(none,watering_can_top)",
+      "grasp(watering_can_top)",
+      "pick_up(watering_can)",
+      "place(watering_can,sink_platform)",
+      "move_to(none,watering_can_handle)",
+      "grasp(watering_can_handle)",
+      "pick_up(watering_can)",
+      "observation(plant_on_table)",
+      "mobile(table_former)",
+      "move_to(watering_can, plant)",
+      "pour(watering_can,water, plant)",
+      "move_to(watering_can,table)",
+      "place(watering_can,table)"
+    ],
+    "gt_dag": {
+      "move_to(none,faucet_switch)": [
+        "grasp(faucet_switch)"
+      ],
+      "grasp(faucet_switch)": [
+        "turn(faucet_switch,backward,state_of_open)"
+      ],
+      "turn(faucet_switch,backward,state_of_open)": [
+        "turn(faucet_switch,forward,state_of_close)"
+      ],
+      "turn(faucet_switch,forward,state_of_close)": [
+        "move_to(none,watering_can_handle)"
+      ],
+      "move_to(none,watering_can_top)": [
+        "grasp(watering_can_top)"
+      ],
+      "grasp(watering_can_top)": [
+        "pick_up(watering_can)"
+      ],
+      "pick_up(watering_can)": [
+        "place(watering_can,sink_platform)"
+      ],
+      "place(watering_can,sink_platform)": [
+        "turn(faucet_switch,forward,state_of_close)"
+      ],
+      "move_to(none,watering_can_handle)": [
+        "grasp(watering_can_handle)"
+      ],
+      "grasp(watering_can_handle)": [
+        "pick_up(watering_can)<1>"
+      ],
+      "observation(plant_on_table)": [
+        "mobile(table_former)"
+      ],
+      "mobile(table_former)": [
+        "move_to(watering_can, plant)"
+      ],
+      "move_to(watering_can, plant)": [
+        "pour(watering_can,water, plant)"
+      ],
+      "pour(watering_can,water, plant)": [
+        "move_to(watering_can,table)"
+      ],
+      "move_to(watering_can,table)": [
+        "place(watering_can,table)"
+      ],
+      "place(watering_can,table)": [],
+      "pick_up(watering_can)<1>": [
+        "observation(plant_on_table)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_water_plant_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_dual_arm_1",
+    "actions_list": [
+      "observation(paper_garbage, two_crumpled_pieces_of_paper_on_the_table, yes)",
+      "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)",
+      "left:pick_up(paper_ball),right:pick_up(paper_ball)",
+      "observation(trash_bin)",
+      "mobile(trash_can_former)",
+      "left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin)",
+      "left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)"
+    ],
+    "gt_dag": {
+      "observation(paper_garbage, two_crumpled_pieces_of_paper_on_the_table, yes)": [
+        "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)"
+      ],
+      "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)": [
+        "left:pick_up(paper_ball),right:pick_up(paper_ball)"
+      ],
+      "left:pick_up(paper_ball),right:pick_up(paper_ball)": [
+        "observation(trash_bin)"
+      ],
+      "observation(trash_bin)": [
+        "mobile(trash_can_former)"
+      ],
+      "mobile(trash_can_former)": [
+        "left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin)"
+      ],
+      "left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin)": [
+        "left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)"
+      ],
+      "left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_garbage_with_dual_arm_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_dual_arm_3",
+    "actions_list": [
+      "left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper)",
+      "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)",
+      "left:pick_up(paper_ball),right:pick_up(paper_ball)",
+      "observation(trash_bin)",
+      "mobile(trash_can_former)",
+      "left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin)",
+      "left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper)": [
+        "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)"
+      ],
+      "left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper)": [
+        "left:pick_up(paper_ball),right:pick_up(paper_ball)"
+      ],
+      "left:pick_up(paper_ball),right:pick_up(paper_ball)": [
+        "observation(trash_bin)"
+      ],
+      "observation(trash_bin)": [
+        "mobile(trash_can_former)"
+      ],
+      "mobile(trash_can_former)": [
+        "left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin)"
+      ],
+      "left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin)": [
+        "left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)"
+      ],
+      "left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_garbage_with_dual_arm_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_mouse_from_drawer",
+    "actions_list": [
+      "mobile(organizer_box_former)",
+      "right:move_to(bottom_right_organizer_box_handle),left:no_ops",
+      "right:grasp(bottom_right_organizer_box_handle),left:no_ops",
+      "right:pull(bottom_right_organizer_box_handle,open),left:no_ops",
+      "right:move_to(none,mouse),left:no_ops",
+      "right:grasp(mouse),left:no_ops",
+      "right:pick_up(mouse),left:no_ops",
+      "right:no_ops,left:move_to(none,bottom_right_organizer_box_handle)",
+      "right:no_ops,left:grasp(bottom_right_organizer_box_handle)",
+      "right:no_ops,left:push(bottom_right_organizer_box_handle,close)",
+      "observation(table)",
+      "mobile(table_left)",
+      "right:move_to(mouse,table),left:no_ops",
+      "right:place(mouse,table),left:no_ops"
+    ],
+    "gt_dag": {
+      "mobile(organizer_box_former)": [
+        "right:move_to(bottom_right_organizer_box_handle),left:no_ops"
+      ],
+      "right:move_to(bottom_right_organizer_box_handle),left:no_ops": [
+        "right:grasp(bottom_right_organizer_box_handle),left:no_ops"
+      ],
+      "right:grasp(bottom_right_organizer_box_handle),left:no_ops": [
+        "right:pull(bottom_right_organizer_box_handle,open),left:no_ops"
+      ],
+      "right:pull(bottom_right_organizer_box_handle,open),left:no_ops": [
+        "right:move_to(none,mouse),left:no_ops"
+      ],
+      "right:move_to(none,mouse),left:no_ops": [
+        "right:grasp(mouse),left:no_ops"
+      ],
+      "right:grasp(mouse),left:no_ops": [
+        "right:pick_up(mouse),left:no_ops"
+      ],
+      "right:pick_up(mouse),left:no_ops": [
+        "right:no_ops,left:move_to(none,bottom_right_organizer_box_handle)"
+      ],
+      "right:no_ops,left:move_to(none,bottom_right_organizer_box_handle)": [
+        "right:no_ops,left:grasp(bottom_right_organizer_box_handle)"
+      ],
+      "right:no_ops,left:grasp(bottom_right_organizer_box_handle)": [
+        "right:no_ops,left:push(bottom_right_organizer_box_handle,close)"
+      ],
+      "right:no_ops,left:push(bottom_right_organizer_box_handle,close)": [
+        "observation(table)"
+      ],
+      "observation(table)": [
+        "mobile(table_left)"
+      ],
+      "mobile(table_left)": [
+        "right:move_to(mouse,table),left:no_ops"
+      ],
+      "right:move_to(mouse,table),left:no_ops": [
+        "right:place(mouse,table),left:no_ops"
+      ],
+      "right:place(mouse,table),left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_take_mouse_from_drawer.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/book_to_shelf",
+    "actions_list": [
+      "mobile(table_former)",
+      "right:move_to(none,book),left:no_ops",
+      "right:grasp(book),left:no_ops",
+      "right:pick_up(book),left:no_ops",
+      "observation(shelf),",
+      "mobile(table_left)",
+      "right:move_to(book, shelf),left:no_ops",
+      "right:place(book, shelf),left:no_ops"
+    ],
+    "gt_dag": {
+      "mobile(table_former)": [
+        "right:move_to(none,book),left:no_ops"
+      ],
+      "right:move_to(none,book),left:no_ops": [
+        "right:grasp(book),left:no_ops"
+      ],
+      "right:grasp(book),left:no_ops": [
+        "right:pick_up(book),left:no_ops"
+      ],
+      "right:pick_up(book),left:no_ops": [
+        "observation(shelf),"
+      ],
+      "observation(shelf),": [
+        "mobile(table_left)"
+      ],
+      "mobile(table_left)": [
+        "right:move_to(book, shelf),left:no_ops"
+      ],
+      "right:move_to(book, shelf),left:no_ops": [
+        "right:place(book, shelf),left:no_ops"
+      ],
+      "right:place(book, shelf),left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_book_to_shelf.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_sandwich_from_oven",
+    "actions_list": [
+      "mobile(microwave_oven_on_cupboard_former)",
+      "move_to(none,microwave_oven_door)",
+      "grasp(microwave_oven_door_handle)",
+      "pull(microwave_oven_door,state_of_open)",
+      "observation(sandwich)",
+      "move_to(none, sandwich)",
+      "grasp(sandwich)",
+      "pick_up(sandwich)",
+      "move_to(sandwich,microwave_oven_door_handle)",
+      "grasp(microwave_oven_door_handle)",
+      "push(microwave_oven_door,stare_of_close)",
+      "observation(basket_on_the_table)",
+      "mobile(table_former)",
+      "move_to(sandwich, basket)",
+      "place(sandwich, basket)"
+    ],
+    "gt_dag": {
+      "mobile(microwave_oven_on_cupboard_former)": [
+        "move_to(none,microwave_oven_door)"
+      ],
+      "move_to(none,microwave_oven_door)": [
+        "grasp(microwave_oven_door_handle)"
+      ],
+      "grasp(microwave_oven_door_handle)": [
+        "pull(microwave_oven_door,state_of_open)"
+      ],
+      "pull(microwave_oven_door,state_of_open)": [
+        "observation(sandwich)"
+      ],
+      "observation(sandwich)": [
+        "move_to(none, sandwich)"
+      ],
+      "move_to(none, sandwich)": [
+        "grasp(sandwich)"
+      ],
+      "grasp(sandwich)": [
+        "pick_up(sandwich)"
+      ],
+      "pick_up(sandwich)": [
+        "move_to(sandwich,microwave_oven_door_handle)"
+      ],
+      "move_to(sandwich,microwave_oven_door_handle)": [
+        "grasp(microwave_oven_door_handle)<1>"
+      ],
+      "push(microwave_oven_door,stare_of_close)": [
+        "observation(basket_on_the_table)"
+      ],
+      "observation(basket_on_the_table)": [
+        "mobile(table_former)"
+      ],
+      "mobile(table_former)": [
+        "move_to(sandwich, basket)"
+      ],
+      "move_to(sandwich, basket)": [
+        "place(sandwich, basket)"
+      ],
+      "place(sandwich, basket)": [],
+      "grasp(microwave_oven_door_handle)<1>": [
+        "push(microwave_oven_door,stare_of_close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_take_sandwich_from_oven.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_pen_pencil_into_container",
+    "actions_list": [
+      "mobile(table_left)",
+      "move_to(none,pencil)",
+      "grasp(pencil)",
+      "pick_up(pencil)",
+      "move_to(pencil,container)",
+      "place(pencil,container)",
+      "move_to(none,pen)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen,container)",
+      "place(pen, container)",
+      "place(pen,container)"
+    ],
+    "gt_dag": {
+      "mobile(table_left)": [
+        "move_to(none,pencil)"
+      ],
+      "move_to(none,pencil)": [
+        "grasp(pencil)"
+      ],
+      "grasp(pencil)": [
+        "pick_up(pencil)"
+      ],
+      "pick_up(pencil)": [
+        "move_to(pencil,container)"
+      ],
+      "move_to(pencil,container)": [
+        "place(pencil,container)"
+      ],
+      "place(pencil,container)": [
+        "move_to(none,pen)"
+      ],
+      "move_to(none,pen)": [
+        "grasp(pen)"
+      ],
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen,container)"
+      ],
+      "move_to(pen,container)": [
+        "place(pen, container)"
+      ],
+      "place(pen, container)": [
+        "place(pen,container)"
+      ],
+      "place(pen,container)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_take_pen_pencil_into_container.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/prepare_black_green_tea",
+    "actions_list": [
+      "left:move_to(none,lid_of_the_tea_box),right:no_ops",
+      "left:open(lid_of_the_tea_box),right:no_ops",
+      "left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops",
+      "right:move_to(none, tea_box), left:move_to(none, tea_box)",
+      "right:grasp(yellow_tea_bag),left:grasp(green_tea_bag)",
+      "right:pick_up(yellow_tea_bag),left:pick_up(green_tea_bag)",
+      "observation(paper_cup)",
+      "mobile(table)",
+      "right:move_to(tea_bag, yellow_cup_on_the_table),left:move_to(tea_bag, green_cup_on_the_table)",
+      "left:place(tea_bag, green_cup_on_the_table),right:move_to(tea_bag, yellow_cup_on_the_table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,lid_of_the_tea_box),right:no_ops": [
+        "left:open(lid_of_the_tea_box),right:no_ops"
+      ],
+      "left:open(lid_of_the_tea_box),right:no_ops": [
+        "left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops"
+      ],
+      "left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops": [
+        "right:move_to(none, tea_box), left:move_to(none, tea_box)"
+      ],
+      "right:move_to(none, tea_box), left:move_to(none, tea_box)": [
+        "right:grasp(yellow_tea_bag),left:grasp(green_tea_bag)"
+      ],
+      "right:grasp(yellow_tea_bag),left:grasp(green_tea_bag)": [
+        "right:pick_up(yellow_tea_bag),left:pick_up(green_tea_bag)"
+      ],
+      "right:pick_up(yellow_tea_bag),left:pick_up(green_tea_bag)": [
+        "observation(paper_cup)"
+      ],
+      "observation(paper_cup)": [
+        "mobile(table)"
+      ],
+      "mobile(table)": [
+        "right:move_to(tea_bag, yellow_cup_on_the_table),left:move_to(tea_bag, green_cup_on_the_table)"
+      ],
+      "right:move_to(tea_bag, yellow_cup_on_the_table),left:move_to(tea_bag, green_cup_on_the_table)": [
+        "left:place(tea_bag, green_cup_on_the_table),right:move_to(tea_bag, yellow_cup_on_the_table)"
+      ],
+      "left:place(tea_bag, green_cup_on_the_table),right:move_to(tea_bag, yellow_cup_on_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_prepare_black_green_tea.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_cup",
+    "actions_list": [
+      "move_to(none,paper_cup)",
+      "left:grasp(paper_cup), right:grasp(paper_cup)",
+      "pick_up(paper_cup)",
+      "observation(trash_can)",
+      "mobile(trash_can_former)",
+      "move_to(paper_cup, trash_can)",
+      "place(paper_cup,trash_can)"
+    ],
+    "gt_dag": {
+      "move_to(none,paper_cup)": [
+        "left:grasp(paper_cup), right:grasp(paper_cup)"
+      ],
+      "left:grasp(paper_cup), right:grasp(paper_cup)": [
+        "pick_up(paper_cup)"
+      ],
+      "pick_up(paper_cup)": [
+        "observation(trash_can)"
+      ],
+      "observation(trash_can)": [
+        "mobile(trash_can_former)"
+      ],
+      "mobile(trash_can_former)": [
+        "move_to(paper_cup, trash_can)"
+      ],
+      "move_to(paper_cup, trash_can)": [
+        "place(paper_cup,trash_can)"
+      ],
+      "place(paper_cup,trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_throw_paper_cup.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/book_to_shelf_2",
+    "actions_list": [
+      "right:move_to(none,book_right),left:move_to(none,book_left)",
+      "left:grasp(book_left), right:grasp(book_right)",
+      "right:push(book_right,Left_side_of_the_table),left:pick_up(book)",
+      "observation(shelf)",
+      "mobile(table_left)",
+      "right:no_ops,left:move_to(book,shelf_on_table)",
+      "right:no_ops,left:place(book,shelf_on_table)"
+    ],
+    "gt_dag": {
+      "right:move_to(none,book_right),left:move_to(none,book_left)": [
+        "left:grasp(book_left), right:grasp(book_right)"
+      ],
+      "left:grasp(book_left), right:grasp(book_right)": [
+        "right:push(book_right,Left_side_of_the_table),left:pick_up(book)"
+      ],
+      "right:push(book_right,Left_side_of_the_table),left:pick_up(book)": [
+        "observation(shelf)"
+      ],
+      "observation(shelf)": [
+        "mobile(table_left)"
+      ],
+      "mobile(table_left)": [
+        "right:no_ops,left:move_to(book,shelf_on_table)"
+      ],
+      "right:no_ops,left:move_to(book,shelf_on_table)": [
+        "right:no_ops,left:place(book,shelf_on_table)"
+      ],
+      "right:no_ops,left:place(book,shelf_on_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_book_to_shelf_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_off_letter",
+    "actions_list": [
+      "mobile(marker_holder_on_whiteboard_former)",
+      "move_to(none,marker_holder_on_whiteboard)",
+      "grasp(whiteboard_eraser)",
+      "pick_up(whiteboard_eraser)",
+      "observation(letter_'a'_on_whiteboard)",
+      "mobile(letter_'a'_on_whiteboard_former)",
+      "move_to(whiteboard_eraser, letter_'a')",
+      "grasp(whiteboard_eraser)",
+      "wipe(whiteboard_eraser, letter_'a',on_whiteboard)",
+      "observation(marker_holder_on_whiteboard)",
+      "mobile(marker_holder_on_whiteboard_former)",
+      "move_to(whiteboard_eraser, marker_holder_on_whiteboard)",
+      "place(whiteboard_eraser, marker_holder)"
+    ],
+    "gt_dag": {
+      "mobile(marker_holder_on_whiteboard_former)": [
+        "move_to(none,marker_holder_on_whiteboard)"
+      ],
+      "move_to(none,marker_holder_on_whiteboard)": [
+        "grasp(whiteboard_eraser)"
+      ],
+      "grasp(whiteboard_eraser)": [
+        "pick_up(whiteboard_eraser)"
+      ],
+      "pick_up(whiteboard_eraser)": [
+        "observation(letter_'a'_on_whiteboard)"
+      ],
+      "observation(letter_'a'_on_whiteboard)": [
+        "mobile(letter_'a'_on_whiteboard_former)"
+      ],
+      "mobile(letter_'a'_on_whiteboard_former)": [
+        "move_to(whiteboard_eraser, letter_'a')"
+      ],
+      "move_to(whiteboard_eraser, letter_'a')": [
+        "grasp(whiteboard_eraser)<1>"
+      ],
+      "wipe(whiteboard_eraser, letter_'a',on_whiteboard)": [
+        "observation(marker_holder_on_whiteboard)"
+      ],
+      "observation(marker_holder_on_whiteboard)": [
+        "mobile(marker_holder_on_whiteboard_former)<1>"
+      ],
+      "move_to(whiteboard_eraser, marker_holder_on_whiteboard)": [
+        "place(whiteboard_eraser, marker_holder)"
+      ],
+      "place(whiteboard_eraser, marker_holder)": [],
+      "grasp(whiteboard_eraser)<1>": [
+        "wipe(whiteboard_eraser, letter_'a',on_whiteboard)"
+      ],
+      "mobile(marker_holder_on_whiteboard_former)<1>": [
+        "move_to(whiteboard_eraser, marker_holder_on_whiteboard)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_wipe_off_letter.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_1",
+    "actions_list": [
+      "left:no_ops,right:move_to(none,oil_bottle_handle)",
+      "left:no_ops, right:grasp(oil_bottle_handle)",
+      "left:no_ops, right:pick_up(oil_bottle)",
+      "left:no_ops, right:move_to(oil_bottle,pan)",
+      "left:no_ops, right:pour(oil_bottle,oil, pan)",
+      "left:no_ops, right:move_to(oil_bottle,cabinet_counter)",
+      "left:no_ops, right:place(oil_bottle,cabinet_counter)",
+      "left:no_ops, right:move_to(none,bowl_with_shrimp)",
+      "left:no_ops, right:grasp(bowl_with_shrimp_edge)",
+      "left:no_ops, right:pick_up(bowl_with_shrimp)",
+      "left:no_ops, right:move_to(bowl_with_shrimp, pan)",
+      "left:no_ops, right:pour(bowl_with_shrimp,shrimp, pan)",
+      "left: no_ops,right: move_to(bowl_with_shwimp,cabinet_counter)",
+      "left: no_ops, right: place(bowl_with_shwimp,cabinet_counter)",
+      "left: no_ops, right: move_to(none,spatula)",
+      "left: no_ops, right: grasp(spatula_handle)",
+      "left: no_ops, right: pick_up(spatula)",
+      "left: no_ops, right: move_to(spatula, pan)",
+      "left: no_ops, right: grasp(spatula, shrimp_in_pan)",
+      "left: no_ops, right: stir(spatula, shrimp,pan)",
+      "left: move_to(none,pen_handle), right: move_to(spatula,cabinet_counter)",
+      "left:grasp(pen_hadle), right: place(spatula,cabinet_counter)",
+      "left: pick_up(pan_handle), right: no_ops",
+      "observation(serving_bowl_table)",
+      "mobile(serving_bowl_former)",
+      "left:move_to(pan, serving_bowl), right:no_ops,",
+      "left:pour(pan,shrimp, serving_bowl), right:no_ops,",
+      "left:move_to(pan, serving_bowl_left_table), right:no_ops",
+      "left:place(pen,table), right:no_ops,"
+    ],
+    "gt_dag": {
+      "left:no_ops,right:move_to(none,oil_bottle_handle)": [
+        "left:no_ops, right:grasp(oil_bottle_handle)"
+      ],
+      "left:no_ops, right:grasp(oil_bottle_handle)": [
+        "left:no_ops, right:pick_up(oil_bottle)"
+      ],
+      "left:no_ops, right:pick_up(oil_bottle)": [
+        "left:no_ops, right:move_to(oil_bottle,pan)"
+      ],
+      "left:no_ops, right:move_to(oil_bottle,pan)": [
+        "left:no_ops, right:pour(oil_bottle,oil, pan)"
+      ],
+      "left:no_ops, right:pour(oil_bottle,oil, pan)": [
+        "left:no_ops, right:move_to(oil_bottle,cabinet_counter)"
+      ],
+      "left:no_ops, right:move_to(oil_bottle,cabinet_counter)": [
+        "left:no_ops, right:place(oil_bottle,cabinet_counter)"
+      ],
+      "left:no_ops, right:place(oil_bottle,cabinet_counter)": [
+        "left:no_ops, right:move_to(none,bowl_with_shrimp)"
+      ],
+      "left:no_ops, right:move_to(none,bowl_with_shrimp)": [
+        "left:no_ops, right:grasp(bowl_with_shrimp_edge)"
+      ],
+      "left:no_ops, right:grasp(bowl_with_shrimp_edge)": [
+        "left:no_ops, right:pick_up(bowl_with_shrimp)"
+      ],
+      "left:no_ops, right:pick_up(bowl_with_shrimp)": [
+        "left:no_ops, right:move_to(bowl_with_shrimp, pan)"
+      ],
+      "left:no_ops, right:move_to(bowl_with_shrimp, pan)": [
+        "left:no_ops, right:pour(bowl_with_shrimp,shrimp, pan)"
+      ],
+      "left:no_ops, right:pour(bowl_with_shrimp,shrimp, pan)": [
+        "left: no_ops,right: move_to(bowl_with_shwimp,cabinet_counter)"
+      ],
+      "left: no_ops,right: move_to(bowl_with_shwimp,cabinet_counter)": [
+        "left: no_ops, right: place(bowl_with_shwimp,cabinet_counter)"
+      ],
+      "left: no_ops, right: place(bowl_with_shwimp,cabinet_counter)": [
+        "left: no_ops, right: move_to(none,spatula)"
+      ],
+      "left: no_ops, right: move_to(none,spatula)": [
+        "left: no_ops, right: grasp(spatula_handle)"
+      ],
+      "left: no_ops, right: grasp(spatula_handle)": [
+        "left: no_ops, right: pick_up(spatula)"
+      ],
+      "left: no_ops, right: pick_up(spatula)": [
+        "left: no_ops, right: move_to(spatula, pan)"
+      ],
+      "left: no_ops, right: move_to(spatula, pan)": [
+        "left: no_ops, right: grasp(spatula, shrimp_in_pan)"
+      ],
+      "left: no_ops, right: grasp(spatula, shrimp_in_pan)": [
+        "left: no_ops, right: stir(spatula, shrimp,pan)"
+      ],
+      "left: no_ops, right: stir(spatula, shrimp,pan)": [
+        "left: move_to(none,pen_handle), right: move_to(spatula,cabinet_counter)"
+      ],
+      "left: move_to(none,pen_handle), right: move_to(spatula,cabinet_counter)": [
+        "left:grasp(pen_hadle), right: place(spatula,cabinet_counter)"
+      ],
+      "left:grasp(pen_hadle), right: place(spatula,cabinet_counter)": [
+        "left: pick_up(pan_handle), right: no_ops"
+      ],
+      "left: pick_up(pan_handle), right: no_ops": [
+        "observation(serving_bowl_table)"
+      ],
+      "observation(serving_bowl_table)": [
+        "mobile(serving_bowl_former)"
+      ],
+      "mobile(serving_bowl_former)": [
+        "left:move_to(pan, serving_bowl), right:no_ops,"
+      ],
+      "left:move_to(pan, serving_bowl), right:no_ops,": [
+        "left:pour(pan,shrimp, serving_bowl), right:no_ops,"
+      ],
+      "left:pour(pan,shrimp, serving_bowl), right:no_ops,": [
+        "left:move_to(pan, serving_bowl_left_table), right:no_ops"
+      ],
+      "left:move_to(pan, serving_bowl_left_table), right:no_ops": [
+        "left:place(pen,table), right:no_ops,"
+      ],
+      "left:place(pen,table), right:no_ops,": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_37",
+    "actions_list": [
+      "observation(chair)",
+      "mobile(chair)",
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)",
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)",
+      "left: push(chair,under_the_ table), right: push(chair, under_the_ table)",
+      "observation(chair)",
+      "mobile(chair)",
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)",
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)",
+      "left: push(chair, under_the_table), right: push(chair,under_the_ table)",
+      "observation(chair)",
+      "mobile(chair)",
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)",
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)",
+      "left:push(chair, under_the_table), right:push(chair, under_the_table)"
+    ],
+    "gt_dag": {
+      "observation(chair)": [
+        "mobile(chair)"
+      ],
+      "mobile(chair)": [
+        "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)"
+      ],
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)": [
+        "left: grasp(top_left_chair), right: grasp(top_right_chair)"
+      ],
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)": [
+        "left: push(chair,under_the_ table), right: push(chair, under_the_ table)"
+      ],
+      "left: push(chair,under_the_ table), right: push(chair, under_the_ table)": [],
+      "left: push(chair, under_the_table), right: push(chair,under_the_ table)": [],
+      "left:push(chair, under_the_table), right:push(chair, under_the_table)": [],
+      "observation(chair)<1>": [
+        "mobile(chair)<1>"
+      ],
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)<1>": [
+        "left: grasp(top_left_chair), right: grasp(top_right_chair)<1>"
+      ],
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)<1>": [
+        "left:push(chair, under_the_table), right:push(chair, under_the_table)"
+      ],
+      "mobile(chair)<1>": [
+        "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)<2>"
+      ],
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)<2>": [
+        "left: grasp(top_left_chair), right: grasp(top_right_chair)<2>"
+      ],
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)<2>": [
+        "left: push(chair, under_the_table), right: push(chair,under_the_ table)"
+      ],
+      "observation(chair)<2>": [
+        "mobile(chair)<2>"
+      ],
+      "mobile(chair)<2>": [
+        "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)<1>"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_37.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_46",
+    "actions_list": [
+      "left:move_to(none,pan_handle),right:no_ops",
+      "left:grasp(pan_handle), right: no_ops",
+      "left:pick_up(pan), right: no_ops",
+      "observation(sink)",
+      "mobile(sink_former)",
+      "left:move_to(pan, under_faucet_in_sink), right:move_to(none,faucet_switch_handle)",
+      "left:hold(pan), right:grasp(faucet_switch_handle)",
+      "left:hold(pan), right:turn(faucet_switch_handle,down,state_of_open)",
+      "left:hold(pan), right:turn(faucet_switch_handle,up,state_of_close)",
+      "left:pour(pan,water,sink), right:no_ops",
+      "left:move_to(pan,kitchen_racks), right:no_ops",
+      "left:place(pan,kitchen_racks), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,pan_handle),right:no_ops": [
+        "left:grasp(pan_handle), right: no_ops"
+      ],
+      "left:grasp(pan_handle), right: no_ops": [
+        "left:pick_up(pan), right: no_ops"
+      ],
+      "left:pick_up(pan), right: no_ops": [
+        "observation(sink)"
+      ],
+      "observation(sink)": [
+        "mobile(sink_former)"
+      ],
+      "mobile(sink_former)": [
+        "left:move_to(pan, under_faucet_in_sink), right:move_to(none,faucet_switch_handle)"
+      ],
+      "left:move_to(pan, under_faucet_in_sink), right:move_to(none,faucet_switch_handle)": [
+        "left:hold(pan), right:grasp(faucet_switch_handle)"
+      ],
+      "left:hold(pan), right:grasp(faucet_switch_handle)": [
+        "left:hold(pan), right:turn(faucet_switch_handle,down,state_of_open)"
+      ],
+      "left:hold(pan), right:turn(faucet_switch_handle,down,state_of_open)": [
+        "left:hold(pan), right:turn(faucet_switch_handle,up,state_of_close)"
+      ],
+      "left:hold(pan), right:turn(faucet_switch_handle,up,state_of_close)": [
+        "left:pour(pan,water,sink), right:no_ops"
+      ],
+      "left:pour(pan,water,sink), right:no_ops": [
+        "left:move_to(pan,kitchen_racks), right:no_ops"
+      ],
+      "left:move_to(pan,kitchen_racks), right:no_ops": [
+        "left:place(pan,kitchen_racks), right:no_ops"
+      ],
+      "left:place(pan,kitchen_racks), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_46.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_71",
+    "actions_list": [
+      "left:move_to(none,pan_handle),right:no_ops",
+      "left:grasp(pan_handle), right: no_ops",
+      "left:pick_up(pan), right: no_ops",
+      "observation(sink)",
+      "mobile(sink_former)",
+      "left:move_to(pan, under_faucet_in_sink),right:move_to(none,faucet_switch_handle)",
+      "left:hold(pan),right:grasp(faucet_switch_handle)",
+      "left:hold(pan),right:turn(faucet_switch_handle,down,state_of_open)",
+      "left:hold(pan),right:turn(faucet_switch_handle,up,state_of_close)",
+      "left:pour(pan,water,sink), right:no_ops",
+      "left:move_to(pan,kitchen_racks), right:no_ops",
+      "left:place(pan,kitchen_racks), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,pan_handle),right:no_ops": [
+        "left:grasp(pan_handle), right: no_ops"
+      ],
+      "left:grasp(pan_handle), right: no_ops": [
+        "left:pick_up(pan), right: no_ops"
+      ],
+      "left:pick_up(pan), right: no_ops": [
+        "observation(sink)"
+      ],
+      "observation(sink)": [
+        "mobile(sink_former)"
+      ],
+      "mobile(sink_former)": [
+        "left:move_to(pan, under_faucet_in_sink),right:move_to(none,faucet_switch_handle)"
+      ],
+      "left:move_to(pan, under_faucet_in_sink),right:move_to(none,faucet_switch_handle)": [
+        "left:hold(pan),right:grasp(faucet_switch_handle)"
+      ],
+      "left:hold(pan),right:grasp(faucet_switch_handle)": [
+        "left:hold(pan),right:turn(faucet_switch_handle,down,state_of_open)"
+      ],
+      "left:hold(pan),right:turn(faucet_switch_handle,down,state_of_open)": [
+        "left:hold(pan),right:turn(faucet_switch_handle,up,state_of_close)"
+      ],
+      "left:hold(pan),right:turn(faucet_switch_handle,up,state_of_close)": [
+        "left:pour(pan,water,sink), right:no_ops"
+      ],
+      "left:pour(pan,water,sink), right:no_ops": [
+        "left:move_to(pan,kitchen_racks), right:no_ops"
+      ],
+      "left:move_to(pan,kitchen_racks), right:no_ops": [
+        "left:place(pan,kitchen_racks), right:no_ops"
+      ],
+      "left:place(pan,kitchen_racks), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_71.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_77",
+    "actions_list": [
+      "observation(chair)",
+      "mobile(chair)",
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)",
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)",
+      "left: push(chair,under_the_ table), right: push(chair, under_the_ table)",
+      "observation(chair)",
+      "mobile(chair)",
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)",
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)",
+      "left: push(chair, under_the_table), right: push(chair,under_the_ table)",
+      "observation(chair)",
+      "mobile(chair)",
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)",
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)",
+      "left:push(chair, under_the_table), right:push(chair, under_the_table)"
+    ],
+    "gt_dag": {
+      "observation(chair)": [
+        "mobile(chair)"
+      ],
+      "mobile(chair)": [
+        "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)"
+      ],
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)": [
+        "left: grasp(top_left_chair), right: grasp(top_right_chair)"
+      ],
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)": [
+        "left: push(chair,under_the_ table), right: push(chair, under_the_ table)"
+      ],
+      "left: push(chair,under_the_ table), right: push(chair, under_the_ table)": [],
+      "left: push(chair, under_the_table), right: push(chair,under_the_ table)": [],
+      "left:push(chair, under_the_table), right:push(chair, under_the_table)": [],
+      "observation(chair)<1>": [
+        "mobile(chair)<1>"
+      ],
+      "mobile(chair)<1>": [
+        "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)<1>"
+      ],
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)<1>": [
+        "left: grasp(top_left_chair), right: grasp(top_right_chair)<1>"
+      ],
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)<1>": [
+        "left: push(chair, under_the_table), right: push(chair,under_the_ table)"
+      ],
+      "observation(chair)<2>": [
+        "mobile(chair)<2>"
+      ],
+      "mobile(chair)<2>": [
+        "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)<2>"
+      ],
+      "left: move_to(none,top_left_chair), right: move_to(none,top_right_chair)<2>": [
+        "left: grasp(top_left_chair), right: grasp(top_right_chair)<2>"
+      ],
+      "left: grasp(top_left_chair), right: grasp(top_right_chair)<2>": [
+        "left:push(chair, under_the_table), right:push(chair, under_the_table)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_77.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_89",
+    "actions_list": [
+      "mobile(sink_former)",
+      "right:move_to(none,dishcloth,)left:no_ops",
+      "left:no_ops, right:grasp(dishcloth)",
+      "left:no_ops, right:pick_up(dishcloth)",
+      "observation(countertop)",
+      "mobile(countertop)",
+      "left:move_to(none,goblet)right:hold(dishcloth)",
+      "left:grasp(goblet)right:hold(dishcloth)",
+      "left:pick_up(goblet)right:move_to(dishcloth,countertop)",
+      "left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop)",
+      "left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop)",
+      "left:place(goble,countertop), right:place(dishcloth, top_right_countertop)"
+    ],
+    "gt_dag": {
+      "mobile(sink_former)": [
+        "right:move_to(none,dishcloth,)left:no_ops"
+      ],
+      "right:move_to(none,dishcloth,)left:no_ops": [
+        "left:no_ops, right:grasp(dishcloth)"
+      ],
+      "left:no_ops, right:grasp(dishcloth)": [
+        "left:no_ops, right:pick_up(dishcloth)"
+      ],
+      "left:no_ops, right:pick_up(dishcloth)": [
+        "observation(countertop)"
+      ],
+      "observation(countertop)": [
+        "mobile(countertop)"
+      ],
+      "mobile(countertop)": [
+        "left:move_to(none,goblet)right:hold(dishcloth)"
+      ],
+      "left:move_to(none,goblet)right:hold(dishcloth)": [
+        "left:grasp(goblet)right:hold(dishcloth)"
+      ],
+      "left:grasp(goblet)right:hold(dishcloth)": [
+        "left:pick_up(goblet)right:move_to(dishcloth,countertop)"
+      ],
+      "left:pick_up(goblet)right:move_to(dishcloth,countertop)": [
+        "left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop)"
+      ],
+      "left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop)": [
+        "left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop)"
+      ],
+      "left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop)": [
+        "left:place(goble,countertop), right:place(dishcloth, top_right_countertop)"
+      ],
+      "left:place(goble,countertop), right:place(dishcloth, top_right_countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_89.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_102",
+    "actions_list": [
+      "mobile(sink_former)",
+      "right:move_to(none,dishcloth),left:no_ops",
+      "left:no_ops, right:grasp(dishcloth)",
+      "left:no_ops, right:pick_up(dishcloth)",
+      "observation(countertop)",
+      "mobile(countertop)",
+      "left:move_to(none,goblet)right:hold(dishcloth)",
+      "left:grasp(goblet)right:hold(dishcloth)",
+      "left:pick_up(goblet)right:move_to(dishcloth,countertop)",
+      "left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop)",
+      "left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop)",
+      "left:place(goble,countertop), right:place(dishcloth, top_right_countertop)"
+    ],
+    "gt_dag": {
+      "mobile(sink_former)": [
+        "right:move_to(none,dishcloth),left:no_ops"
+      ],
+      "right:move_to(none,dishcloth),left:no_ops": [
+        "left:no_ops, right:grasp(dishcloth)"
+      ],
+      "left:no_ops, right:grasp(dishcloth)": [
+        "left:no_ops, right:pick_up(dishcloth)"
+      ],
+      "left:no_ops, right:pick_up(dishcloth)": [
+        "observation(countertop)"
+      ],
+      "observation(countertop)": [
+        "mobile(countertop)"
+      ],
+      "mobile(countertop)": [
+        "left:move_to(none,goblet)right:hold(dishcloth)"
+      ],
+      "left:move_to(none,goblet)right:hold(dishcloth)": [
+        "left:grasp(goblet)right:hold(dishcloth)"
+      ],
+      "left:grasp(goblet)right:hold(dishcloth)": [
+        "left:pick_up(goblet)right:move_to(dishcloth,countertop)"
+      ],
+      "left:pick_up(goblet)right:move_to(dishcloth,countertop)": [
+        "left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop)"
+      ],
+      "left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop)": [
+        "left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop)"
+      ],
+      "left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop)": [
+        "left:place(goble,countertop), right:place(dishcloth, top_right_countertop)"
+      ],
+      "left:place(goble,countertop), right:place(dishcloth, top_right_countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_102.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_124",
+    "actions_list": [
+      "observation(elevator)",
+      "mobile(elevator)",
+      "left:no_ops, right:move_to(none,elevator_call_button)",
+      "left:no_ops, right:press(elevator_call_button)",
+      "mobile(into_elevator)",
+      "left:no_ops,right:move_to(nove,button_inside_elevator)",
+      "left:no_ops,right:press(button_inside_elevator)"
+    ],
+    "gt_dag": {
+      "observation(elevator)": [
+        "mobile(elevator)"
+      ],
+      "mobile(elevator)": [
+        "left:no_ops, right:move_to(none,elevator_call_button)"
+      ],
+      "left:no_ops, right:move_to(none,elevator_call_button)": [
+        "left:no_ops, right:press(elevator_call_button)"
+      ],
+      "left:no_ops, right:press(elevator_call_button)": [
+        "mobile(into_elevator)"
+      ],
+      "mobile(into_elevator)": [
+        "left:no_ops,right:move_to(nove,button_inside_elevator)"
+      ],
+      "left:no_ops,right:move_to(nove,button_inside_elevator)": [
+        "left:no_ops,right:press(button_inside_elevator)"
+      ],
+      "left:no_ops,right:press(button_inside_elevator)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_124.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_181",
+    "actions_list": [
+      "mobile(sink_former)",
+      "right:move_to(none,dishcloth),left:no_ops",
+      "left:no_ops, right:grasp(dishcloth)",
+      "left:no_ops, right:pick_up(dishcloth)",
+      "observation(countertop)",
+      "mobile(countertop)",
+      "left:move_to(none,goblet)right:hold(dishcloth)",
+      "left:grasp(goblet)right:hold(dishcloth)",
+      "left:pick_up(goblet)right:move_to(dishcloth,countertop)",
+      "left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop)",
+      "left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop)",
+      "left:place(goble,countertop), right:place(dishcloth, top_right_countertop)"
+    ],
+    "gt_dag": {
+      "mobile(sink_former)": [
+        "right:move_to(none,dishcloth),left:no_ops"
+      ],
+      "right:move_to(none,dishcloth),left:no_ops": [
+        "left:no_ops, right:grasp(dishcloth)"
+      ],
+      "left:no_ops, right:grasp(dishcloth)": [
+        "left:no_ops, right:pick_up(dishcloth)"
+      ],
+      "left:no_ops, right:pick_up(dishcloth)": [
+        "observation(countertop)"
+      ],
+      "observation(countertop)": [
+        "mobile(countertop)"
+      ],
+      "mobile(countertop)": [
+        "left:move_to(none,goblet)right:hold(dishcloth)"
+      ],
+      "left:move_to(none,goblet)right:hold(dishcloth)": [
+        "left:grasp(goblet)right:hold(dishcloth)"
+      ],
+      "left:grasp(goblet)right:hold(dishcloth)": [
+        "left:pick_up(goblet)right:move_to(dishcloth,countertop)"
+      ],
+      "left:pick_up(goblet)right:move_to(dishcloth,countertop)": [
+        "left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop)"
+      ],
+      "left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop)": [
+        "left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop)"
+      ],
+      "left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop)": [
+        "left:place(goble,countertop), right:place(dishcloth, top_right_countertop)"
+      ],
+      "left:place(goble,countertop), right:place(dishcloth, top_right_countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_181.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_182",
+    "actions_list": [
+      "left:no_ops,right:move_to(none,oil_bottle_handle)",
+      "left:no_ops, right:grasp(oil_bottle_handle)",
+      "left:no_ops, right:pick_up(oil_bottle)",
+      "left:no_ops, right:move_to(oil_bottle,pan)",
+      "left:no_ops, right:pour(oil_bottle,oil, pan)",
+      "left:no_ops, right:move_to(oil_bottle,cabinet_counter)",
+      "left:no_ops, right:place(oil_bottle,cabinet_counter)",
+      "left:no_ops, right:move_to(none,bowl_with_shrimp)",
+      "left:no_ops, right:grasp(bowl_with_shrimp_edge)",
+      "left:no_ops, right:pick_up(bowl_with_shrimp)",
+      "left:no_ops, right:move_to(bowl_with_shrimp, pan)",
+      "left:no_ops, right:pour(bowl_with_shrimp,shrimp, pan)",
+      "left: no_ops,right: move_to(bowl_with_shwimp,cabinet_counter)",
+      "left: no_ops, right: place(bowl_with_shwimp,cabinet_counter)",
+      "left: no_ops, right: move_to(none,spatula)",
+      "left: no_ops, right: grasp(spatula_handle)",
+      "left: no_ops, right: pick_up(spatula)",
+      "left: no_ops, right: move_to(spatula, pan)",
+      "left: no_ops, right: grasp(spatula, shrimp_in_pan)",
+      "left: no_ops, right: stir(spatula, shrimp,pan)",
+      "left: move_to(none,pen_handle), right: move_to(spatula,cabinet_counter)",
+      "left:grasp(pen_hadle), right: place(spatula,cabinet_counter)",
+      "left: pick_up(pan_handle), right: no_ops",
+      "observation(serving_bowl_table)",
+      "mobile(serving_bowl_former)",
+      "left:move_to(pan, serving_bowl), right:no_ops,",
+      "left:pour(pan,shrimp, serving_bowl), right:no_ops,",
+      "left:move_to(pan, serving_bowl_left_table), right:no_ops",
+      "left:place(pen,table), right:no_ops,"
+    ],
+    "gt_dag": {
+      "left:no_ops,right:move_to(none,oil_bottle_handle)": [
+        "left:no_ops, right:grasp(oil_bottle_handle)"
+      ],
+      "left:no_ops, right:grasp(oil_bottle_handle)": [
+        "left:no_ops, right:pick_up(oil_bottle)"
+      ],
+      "left:no_ops, right:pick_up(oil_bottle)": [
+        "left:no_ops, right:move_to(oil_bottle,pan)"
+      ],
+      "left:no_ops, right:move_to(oil_bottle,pan)": [
+        "left:no_ops, right:pour(oil_bottle,oil, pan)"
+      ],
+      "left:no_ops, right:pour(oil_bottle,oil, pan)": [
+        "left:no_ops, right:move_to(oil_bottle,cabinet_counter)"
+      ],
+      "left:no_ops, right:move_to(oil_bottle,cabinet_counter)": [
+        "left:no_ops, right:place(oil_bottle,cabinet_counter)"
+      ],
+      "left:no_ops, right:place(oil_bottle,cabinet_counter)": [
+        "left:no_ops, right:move_to(none,bowl_with_shrimp)"
+      ],
+      "left:no_ops, right:move_to(none,bowl_with_shrimp)": [
+        "left:no_ops, right:grasp(bowl_with_shrimp_edge)"
+      ],
+      "left:no_ops, right:grasp(bowl_with_shrimp_edge)": [
+        "left:no_ops, right:pick_up(bowl_with_shrimp)"
+      ],
+      "left:no_ops, right:pick_up(bowl_with_shrimp)": [
+        "left:no_ops, right:move_to(bowl_with_shrimp, pan)"
+      ],
+      "left:no_ops, right:move_to(bowl_with_shrimp, pan)": [
+        "left:no_ops, right:pour(bowl_with_shrimp,shrimp, pan)"
+      ],
+      "left:no_ops, right:pour(bowl_with_shrimp,shrimp, pan)": [
+        "left: no_ops,right: move_to(bowl_with_shwimp,cabinet_counter)"
+      ],
+      "left: no_ops,right: move_to(bowl_with_shwimp,cabinet_counter)": [
+        "left: no_ops, right: place(bowl_with_shwimp,cabinet_counter)"
+      ],
+      "left: no_ops, right: place(bowl_with_shwimp,cabinet_counter)": [
+        "left: no_ops, right: move_to(none,spatula)"
+      ],
+      "left: no_ops, right: move_to(none,spatula)": [
+        "left: no_ops, right: grasp(spatula_handle)"
+      ],
+      "left: no_ops, right: grasp(spatula_handle)": [
+        "left: no_ops, right: pick_up(spatula)"
+      ],
+      "left: no_ops, right: pick_up(spatula)": [
+        "left: no_ops, right: move_to(spatula, pan)"
+      ],
+      "left: no_ops, right: move_to(spatula, pan)": [
+        "left: no_ops, right: grasp(spatula, shrimp_in_pan)"
+      ],
+      "left: no_ops, right: grasp(spatula, shrimp_in_pan)": [
+        "left: no_ops, right: stir(spatula, shrimp,pan)"
+      ],
+      "left: no_ops, right: stir(spatula, shrimp,pan)": [
+        "left: move_to(none,pen_handle), right: move_to(spatula,cabinet_counter)"
+      ],
+      "left: move_to(none,pen_handle), right: move_to(spatula,cabinet_counter)": [
+        "left:grasp(pen_hadle), right: place(spatula,cabinet_counter)"
+      ],
+      "left:grasp(pen_hadle), right: place(spatula,cabinet_counter)": [
+        "left: pick_up(pan_handle), right: no_ops"
+      ],
+      "left: pick_up(pan_handle), right: no_ops": [
+        "observation(serving_bowl_table)"
+      ],
+      "observation(serving_bowl_table)": [
+        "mobile(serving_bowl_former)"
+      ],
+      "mobile(serving_bowl_former)": [
+        "left:move_to(pan, serving_bowl), right:no_ops,"
+      ],
+      "left:move_to(pan, serving_bowl), right:no_ops,": [
+        "left:pour(pan,shrimp, serving_bowl), right:no_ops,"
+      ],
+      "left:pour(pan,shrimp, serving_bowl), right:no_ops,": [
+        "left:move_to(pan, serving_bowl_left_table), right:no_ops"
+      ],
+      "left:move_to(pan, serving_bowl_left_table), right:no_ops": [
+        "left:place(pen,table), right:no_ops,"
+      ],
+      "left:place(pen,table), right:no_ops,": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_182.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_216",
+    "actions_list": [
+      "observation(elevator)",
+      "mobile(elevator)",
+      "left:no_ops, right:move_to(none,elevator_call_button)",
+      "left:no_ops, right:press(elevator_call_button)",
+      "mobile(into_elevator)",
+      "lefr:no_ops,right:move_to(none,button_inside_elevator)",
+      "left:no_ops,right:press(button_inside_elevator)"
+    ],
+    "gt_dag": {
+      "observation(elevator)": [
+        "mobile(elevator)"
+      ],
+      "mobile(elevator)": [
+        "left:no_ops, right:move_to(none,elevator_call_button)"
+      ],
+      "left:no_ops, right:move_to(none,elevator_call_button)": [
+        "left:no_ops, right:press(elevator_call_button)"
+      ],
+      "left:no_ops, right:press(elevator_call_button)": [
+        "mobile(into_elevator)"
+      ],
+      "mobile(into_elevator)": [
+        "lefr:no_ops,right:move_to(none,button_inside_elevator)"
+      ],
+      "lefr:no_ops,right:move_to(none,button_inside_elevator)": [
+        "left:no_ops,right:press(button_inside_elevator)"
+      ],
+      "left:no_ops,right:press(button_inside_elevator)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_216.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_217",
+    "actions_list": [
+      "observation(elevator)",
+      "mobile(elevator)",
+      "left:no_ops, right:move_to(none,elevator_call_button)",
+      "left:no_ops, right:press(elevator_call_button)",
+      "mobile(into_elevator)",
+      "left:no_ops,right:move_to(none,button_inside_elevator)",
+      "left:no_ops,right:press(button_inside_elevator)"
+    ],
+    "gt_dag": {
+      "observation(elevator)": [
+        "mobile(elevator)"
+      ],
+      "mobile(elevator)": [
+        "left:no_ops, right:move_to(none,elevator_call_button)"
+      ],
+      "left:no_ops, right:move_to(none,elevator_call_button)": [
+        "left:no_ops, right:press(elevator_call_button)"
+      ],
+      "left:no_ops, right:press(elevator_call_button)": [
+        "mobile(into_elevator)"
+      ],
+      "mobile(into_elevator)": [
+        "left:no_ops,right:move_to(none,button_inside_elevator)"
+      ],
+      "left:no_ops,right:move_to(none,button_inside_elevator)": [
+        "left:no_ops,right:press(button_inside_elevator)"
+      ],
+      "left:no_ops,right:press(button_inside_elevator)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_217.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_252",
+    "actions_list": [
+      "left:move_to(none,pan_handle),right:no_ops",
+      "left:grasp(pan_handle), right: no_ops",
+      "left:pick_up(pan), right: no_ops",
+      "observation(sink)",
+      "mobile(sink_former)",
+      "left:move_to(pan,under_faucet_in_sink),right:move_to(none,faucet_switch_handle)",
+      "left:hold(pan),right:grasp(faucet_switch_handle)",
+      "left:hold(pan),right:turn(faucet_switch_handle,down,state_of_open)",
+      "left:hold(pan),right:turn(faucet_switch_handle,up,state_of_close)",
+      "left:pour(pan,water,sink), right:no_ops",
+      "left:move_to(pan,kitchen_racks), right:no_ops",
+      "left:place(pan,kitchen_racks), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,pan_handle),right:no_ops": [
+        "left:grasp(pan_handle), right: no_ops"
+      ],
+      "left:grasp(pan_handle), right: no_ops": [
+        "left:pick_up(pan), right: no_ops"
+      ],
+      "left:pick_up(pan), right: no_ops": [
+        "observation(sink)"
+      ],
+      "observation(sink)": [
+        "mobile(sink_former)"
+      ],
+      "mobile(sink_former)": [
+        "left:move_to(pan,under_faucet_in_sink),right:move_to(none,faucet_switch_handle)"
+      ],
+      "left:move_to(pan,under_faucet_in_sink),right:move_to(none,faucet_switch_handle)": [
+        "left:hold(pan),right:grasp(faucet_switch_handle)"
+      ],
+      "left:hold(pan),right:grasp(faucet_switch_handle)": [
+        "left:hold(pan),right:turn(faucet_switch_handle,down,state_of_open)"
+      ],
+      "left:hold(pan),right:turn(faucet_switch_handle,down,state_of_open)": [
+        "left:hold(pan),right:turn(faucet_switch_handle,up,state_of_close)"
+      ],
+      "left:hold(pan),right:turn(faucet_switch_handle,up,state_of_close)": [
+        "left:pour(pan,water,sink), right:no_ops"
+      ],
+      "left:pour(pan,water,sink), right:no_ops": [
+        "left:move_to(pan,kitchen_racks), right:no_ops"
+      ],
+      "left:move_to(pan,kitchen_racks), right:no_ops": [
+        "left:place(pan,kitchen_racks), right:no_ops"
+      ],
+      "left:place(pan,kitchen_racks), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_mobile_manipulation_images_rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_252.png"
+  }
+]
\ No newline at end of file
diff --git a/3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0/frame_00.png b/3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0/frame_00.png
new file mode 100644
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@@ -0,0 +1,3 @@
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+oid sha256:c9417b75b29a6536729dddfcc415193ed5010682e74e2649fcdb552c4abb8126
+size 204158
diff --git a/3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0/frame_01.png b/3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0/frame_01.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80b65c3fe9420f714f1715b055006d5274f637689e03c1e498e1ddaea5176d02
+size 227287
diff --git a/3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0/frame_02.png b/3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0/frame_02.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f5f79675fa3aacf9564f5f70290e09b4050b0d4
--- /dev/null
+++ b/3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0/frame_02.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53b153616f4144394529cf719f225d169290a0d31c456b0932f7018ee40fe872
+size 226696
diff --git a/3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0/frame_03.png b/3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0/frame_03.png
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@@ -0,0 +1,1767 @@
+[
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <adding paper to a printer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-mobile(table_former),2-move_to(none,piece_of_paper),3-grasp(paper),4-pick_up(paper),5-observation(printer),6-mobile(printer_former),7-move_to(paper,paper_tray_of_the_printer),8-place(paper, printer_paper_tray)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <adding paper to a printer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pick_up(paper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/add_printer_paper_0_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <adding paper to a printer> as the goal, steps so far are shown in the video, is step 2-move_to(none, piece_of_paper) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-mobile(table_former),2-move_to(none, crumpled_paper_balls),3-grasp(crumpled_paper_balls),4-pick_up(crumpled_paper_balls),5-observation(trash_bin),6-mobile(trash_bin_former),7-move_to(crumpled_paper_balls, trash_bin),8-place(crumpled_paper, trash_bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash bin> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-observation(trash_bin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash bin> as the goal, steps so far are shown in the video, is step 1-mobile(table_former) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-mobile(table_former),2-move_to(none, crumpled_paper_balls),3-grasp(crumpled_paper_balls),4-pick_up(crumpled_paper_balls),5-observation(trash_can),6-mobile(trash_can_former),7-move_to(crumpled_paper_balls, trash_can),8-place(crumpled_paper_balls, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_0_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(none, crumpled_paper_balls)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_0_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash can> as the goal, steps so far are shown in the video, is step 2-move_to(none, crumpled_paper_balls) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper ball into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-mobile(crumpled_paper_balls_former),2-move_to(none, crumpled_paper_balls),3-grasp(crumpled_paper_balls),4-pick_up(crumpled_paper_balls),5-observation(trash_can),6-mobile(trash_can_former),7-move_to(crumpled_paper_balls, trash_can),8-place(crumpled_paper_balls, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_3_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper ball into a trash can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pick_up(crumpled_paper_balls)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_3_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper ball into a trash can> as the goal, steps so far are shown in the video, is step 1-mobile(crumpled_paper_balls_former) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <filling a watering can with water and watering a plant on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 19 steps.",
+    "gt_answer": "1-mobile(flume_former),2-move_to(none,watering_can_handle),3-grasp(watering_can_handle),4-pick_up(watering_can),5-right:move_to(watering_can, flume),6-place(watering_can,flume),7-move_to(none,faucet_switch),8-grasp(faucet_switch),9-turn(faucet_switch,backward,state_of_open),10-turn(faucet_switch,forward,state_of_close),11-move_to(none,watering_can_handle),12-grasp(watering_can_handle),13-pick_up(watering_can),14-observation(plant_on_table),15-mobile(table_former),16-move_to(watering_can, plant),17-pour(watering_can,water, plant),18-move_to(watering_can,table),19-place(watering_can,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_0_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <filling a watering can with water and watering a plant on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pick_up(watering_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_0_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <filling a watering can with water and watering a plant on the table> as the goal, steps so far are shown in the video, is step 2-move_to(none, watering_can_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_water_from_refrigerator_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <taking a water bottle from the refrigerator> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-mobile(refrigerator_former),2-move_to(none, refrigerator),3-grasp(refrigerator_handle),4-pull(refrigerator,state_of_open),5-observation(water_bottle),6-move_to(none, water_bottle),7-grasp(water_bottle),8-pick_up(water_bottle),9-move_to(water_bottle,refrigerator_handle),10-grasp(refrigerator_handle),11-push(refrigerator,state_of_close),12-observation(table),13-mobile(table_former),14-move_to(water_botttle,table),15-place(water_bottle,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_water_from_refrigerator_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <taking a water bottle from the refrigerator> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "9-move_to(water_bottle, refrigerator_handle), 10-grasp(refrigerator_handle), 11-push(refrigerator, state_of_close), 12-observation(table), 13-mobile(table_former), 14-move_to(water_botttle, table), 15-place(water_bottle, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_water_from_refrigerator_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <taking a water bottle from the refrigerator> as the goal, steps so far are shown in the video, is step 4-pull(refrigerator, state_of_open) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <filling a watering can with water and watering a plant on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 17 steps.",
+    "gt_answer": "1-move_to(none,faucet_switch),2-grasp(faucet_switch),3-turn(faucet_switch,backward,state_of_open),4-turn(faucet_switch,forward,state_of_close),5-move_to(none,watering_can_top),6-grasp(watering_can_top),7-pick_up(watering_can),8-place(watering_can,sink_platform),9-move_to(none,watering_can_handle),10-grasp(watering_can_handle),11-pick_up(watering_can),12-observation(plant_on_table),13-mobile(table_former),14-move_to(watering_can, plant),15-pour(watering_can,water, plant),16-move_to(watering_can,table),17-place(watering_can,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <filling a watering can with water and watering a plant on the table> as the goal, steps so far are shown in the video, is step 2-grasp(faucet_switch) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-mobile(table_former),2-move_to(none, crumpled_paper_balls),3-grasp(crumpled_paper_balls),4-pick_up(crumpled_paper_balls),5-observation(trash_bin),6-mobile(trash_bin_former),7-move_to(crumpled_paper_balls, trash_bin),8-place(crumpled_paper, trash_bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_2_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(none, crumpled_paper_balls)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_2_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash can> as the goal, steps so far are shown in the video, is step 4-pick_up(crumpled_paper_balls) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_bread_from_oven_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving bread from a microwave oven and placing it in a basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-mobile(microwave_oven_on_cupboard_former),2-move_to(none,microwave_oven_door),3-grasp(microwave_oven_door_handle),4-pull(microwave_oven_door,state_of_open),5-observation(bread),6-move_to(none, bread),7-grasp(bread),8-pick_up(bread),9-move_to(bread,microwave_oven_door_handle),10-grasp(microwave_oven_door_handle),11-push(microwave_oven_door,state_of_close),12-observation(basket_on_the_table),13-mobile(table_former),14-move_to(bread, basket),15-place(bread, basket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_bread_from_oven_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving bread from a microwave oven and placing it in a basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "8-pick_up(bread)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_bread_from_oven_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving bread from a microwave oven and placing it in a basket> as the goal, steps so far are shown in the video, is step 3-grasp(microwave_oven_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_dual_arm_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <throwing crumpled paper into a trash bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper),2-left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper),3-left:pick_up(paper_ball),right:pick_up(paper_ball),4-observation(trash_can),5-mobile(trash_can_former),6-left:move_to(paper_ball, trash_can), right:move_to(paper_ball, trash_can),7-left:place(paper_ball, trash_can),right:place(paper_ball, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_off_the_letter_C_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <wiping off a letter 'c' from a whiteboard> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-mobile(marker_holder_on_whiteboard_former),2-move_to(none,whiteboard_eraser),3-grasp(whiteboard_eraser),4-pick_up(whiteboard_eraser),5-observation(letter_'c'_right_of_letter_'b'),6-mobile(letter_'c'_right_of_letter_'b'_on_whiteboard_former),7-right:move_to(whiteboard_eraser, letter_'c'_right_letter_'b'),8-grasp(letter_'c'_right_letter_'b'),9-wipe(whiteboard_eraser, letter_'c',right_letter_'b'_on_whiteboard),10-observation(marker_holder_on_whiteboard),11-mobile(marker_holder_on_whiteboard_former),12-right:move_to(whiteboard_eraser, marker_holder_on_whiteboard),13-right:place(whiteboard_eraser, marker_holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_off_the_letter_C_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <wiping off a letter 'c' from a whiteboard> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pick_up(whiteboard_eraser)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_off_the_letter_C_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <wiping off a letter 'c' from a whiteboard> as the goal, steps so far are shown in the video, is step 2-move_to(none, whiteboard_eraser) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_dual_arm_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <throwing paper garbage into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper),2-left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper),3-left:pick_up(paper_ball),right:pick_up(paper_ball),4-observation(trash_can),5-mobile(trash_can_former),6-left:move_to(paper_ball, trash_can), right:move_to(paper_ball, trash_can),7-left:place(paper_ball, trash_can),right:place(paper_ball, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_dual_arm_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <throwing crumpled paper into a trash bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper),2-left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper),3-left:pick_up(paper_ball),right:pick_up(paper_ball),4-observation(trash_bin),5-mobile(trash_bin_former),6-left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin),7-left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/stick_sticky_note_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <attaching a sticky note to a small blackboard> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-left:no_ops,right:move_to(none,basket_handle),2-left:no_opsright:grasp(basket_handle),3-left:no_opsright:pull(basket,open),4-right:move_to(none,sticky_note),left:no_ops,5-right:grasp(sticky_note),left:no_ops,6-right:pick_up(sticky_note),left:no_ops,7-right:no_ops,left:move_to(none,basket_handle),8-right:no_ops,left:grasp(basket_handle),9-right:no_ops,left:push(basket_handle,close),10-observation(small_blackboard),11-mobile(blackboard_former),12-right:move_to(sticky_note, blackboard),left:no_ops,13-right:place(sticky_note, blackboard),left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_coke_from_refrigerator_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving a coke from the refrigerator and placing it on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-mobile(refrigerator_former),2-move_to(none, refrigerator_handle),3-grasp(refrigerator_handle),4-pull(refrigerator,state_of_open),5-observation(coke_bottle),6-move_to(coke_bottle),7-grasp(coke_bottle),8-pick_up(coke_bottle),9-move_to(coke_bottle,refrigerator_handle),10-grasp(refrigerator_handle),11-push(refrigerator,state_of_close),12-observation(table),13-mobile(table_former),14-move_to(coke_botttle,table),15-place(coke_bottle,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_coke_from_refrigerator_1_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving a coke from the refrigerator and placing it on a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "7-grasp(coke_bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_coke_from_refrigerator_1_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving a coke from the refrigerator and placing it on a table> as the goal, steps so far are shown in the video, is step 1-mobile(refrigerator_former) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_table_and_throw_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Pick up  paper  wipe the table and still in the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, tissue_box),2-grasp(tissue),3-pullout(tissue,tissue_box),4-wipe(tissue,water,table),5-observation(trash_can),6-mobile(trash_can_former),7-move_to(tissue,trash_can),8-place(tissue,trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_table_and_throw_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Pick up  paper  wipe the table and still in the trash can> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-observation(trash_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_table_and_throw_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Pick up  paper  wipe the table and still in the trash can> as the goal, steps so far are shown in the video, is step 1-move_to(none, tissue_box) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/hang_cloth_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <hanging a cloth on a coat rack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-mobile(clothes_on_table_former),2-move_to(none,hanger_of_the_cloth),3-grasp(hanger_of_the_cloth),4-pick_up(clothes),5-observation(coat_rack),6-mobile(coat_rack_former),7-move_to(cloth, coat_rack),8-place(cloth, coat_rack)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/unhang_cloth_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Take the clothes off coat rack and put them on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-mobile(coat_rack_former),2-move_to(none, top_hanging_cloth_support),3-grasp(top_hanging_cloth_support),4-pick_up(clothes),5-observation(table),6-mobile(table_left),7-move_to(clothes,table),8-place(clothes,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/unhang_cloth_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Take the clothes off coat rack and put them on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-observation(table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/unhang_cloth_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Take the clothes off coat rack and put them on the table> as the goal, steps so far are shown in the video, is step 1-mobile(coat_rack_former) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/collect_cold_medicine_into_chest_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <retrieving cold medicine and placing it into a organizer box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-right:no_ops,left:move_to(none, cold_medicine_box),2-right:no_ops, left:grasp(cold_medicine_box),3-right:no_ops,left:pick_up(cold_medicine_box),4-observation(organizer_box),5-mobile(organizer box),6-right:move_to(none,organizer_box_lower_right_handle), left:no_ops,7-right:grasp(organizer_box_lower_right_handle), left:no_ops,8-right:pull(organizer_box_lower_right_handle,open),left:no_ops,9-right:no_ops,left:move_to(cold_medicine_box,organizer_box),10-right:no_ops,left:place(cold_medicine_box,organizer_box),11-right:push(organizer_box_lower_right_handle,close),left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_pen_into_container_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Place the pen in the pen basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-mobile(table_left),2-move_to(none,pen),3-grasp(pen),4-pick_up(pen),5-move_to(pen,pen_basket),6-place(pen, pen_basket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_pear_from_refrigerator_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving a pear from a refrigerator and placing it in a basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-mobile(refrigerator_former),2-move_to(none, refrigerator_handle),3-grasp(refrigerator_handle),4-pull(refrigerator,state_of_open),5-observation(pear),6-move_to(pear),7-grasp(pear),8-pick_up(pear),9-move_to(pear,refrigerator_handle),10-grasp(refrigerator_handle),11-push(refrigerator,state_of_close),12-observation(table),13-mobile(table_former),14-move_to(pear, table_and_basket),15-place(pear, table_and_basket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_pear_from_refrigerator_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving a pear from a refrigerator and placing it in a basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(none, refrigerator_handle)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_pear_from_refrigerator_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving a pear from a refrigerator and placing it in a basket> as the goal, steps so far are shown in the video, is step 5-observation(pear) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/serve_coffee_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <picking up a coffee cup and serving it onto table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-mobile(coffee_machine_fermor),2-move_to(none, coffee_cup),3-grasp(coffee_cup),4-pick_up(coffee_cup),5-observation(table),6-mobile(table_former),7-move_to(coffee_cup,table),8-place(coffee_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/serve_coffee_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <picking up a coffee cup and serving it onto table> as the goal, steps so far are shown in the video, is step 1-mobile(coffee_machine_fermor) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/prepare_cold_medicine_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <Open the storage box, take the cold medicine and put it in the cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 18 steps.",
+    "gt_answer": "1-mobile(storage_box),2-right:move_to(none, storage_box_handle),left:no_ops,3-right:grasp(storage_box_handle),left:no_ops,4-right:pull(storage_box_handle,open),left:no_ops,5-right:move_to(none,cold_medicine_box),left:no_ops,6-right:grasp(cold_medicine_box),left:no_ops,7-right:pick_up(cold_medicine_box),left:move_to(none,cold_medicine_box_top),8-right:hold(cold_medicine_box),left:grasp(cold_medicine),9-right:hold(cold_medicine_box),left:pick_up(cold_medicine),10-right:move_to(cold_medicine_box,storage_box),left:hold(cold_medicine),11-right:place(cold_medicine_box,storage_box),left:hold(cold_medicine),12-right:move_to(none,storage_box_handle),left:hold(cold_medicine),13-right:grasp(storage_box_handle),left:hold(cold_medicine),14-right:push(storage_box_handle,close),left:hold(cold_medicine),15-observation(paper_cup_on_table),16-mobile(table_former),17-right:no_ops,left:move(cold_medicine,paper_cup),18-right:no_ops,left:place(cold_medicine, paper_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/pour_water_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <pouring water from a bottle into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-right:move_to(none, water_bottle),left:no_ops,2-right:grasp(water_bottle),left:no_ops,3-right:pick_up(water_bottle),left:no_ops,4-observation(paper_cup),5-mobile(paper_cup_on_table_former),6-left:move_to(none, bottle_cap),right:hold(water_bottle),7-left:grasp(bottle_cap),right:hold(water_bottle),8-right:hold(water_bottle),left:turn(bottle_cap,anticlockwise,state_of_open),9-right:move_to(water_bottle,paper_cup_top),left:move_to(bottle_cap,paper_cup_left),10-right:right:hold(water_bottle),left:place(bottle_cap,paper_cup_left),11-right:pour(water_bottle, water,paper_cup),left:no_ops,12-right:move_to(water_bottle,paper_cup_right),left:no_ops,13-right:place(water_bottle, table),left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/prepare_black_tea_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <Place the yellow tea in a paper cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-left:move_to(none,lid_of_the_tea_box),right:no_ops,2-left:grasp(lid_of_the_tea_box),right:no_ops,3-left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops,4-right:move_to(none, tea_box),5-right:grasp(yellow_tea_bag),left:no_ops,6-right:pick_up(tea_bag),left:no_ops,7-observation(paper_cup),8-mobile(table),9-right:move_to(tea_bag, cup_on_the_table),left:no_ops,10-right:place(tea_bag, cup_on_the_table),left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/prepare_green_tea_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <Place the green tea in a paper cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-left:move_to(none,lid_of_the_tea_box),right:no_ops,2-left:grasp(lid_of_the_tea_box),right:no_ops,3-left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops,4-right:move_to(none, tea_box),5-right:grasp(green_tea_bag),left:no_ops,6-right:pick_up(tea_bag),left:no_ops,7-observation(paper_cup),8-mobile(table),9-right:move_to(tea_bag, cup_on_the_table),left:no_ops,10-right:place(tea_bag, cup_on_the_table),left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-mobile(table_former),2-move_to(none, crumpled_paper_balls),3-grasp(crumpled_paper_balls),4-pick_up(crumpled_paper_balls),5-observation(trash_bin),6-mobile(trash_bin_former),7-move_to(crumpled_paper_balls, trash_bin),8-place(crumpled_paper, trash_bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_4_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash bin> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-pick_up(crumpled_paper_balls)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_single_arm_4_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <throwing a crumpled piece of paper balls into a trash bin> as the goal, steps so far are shown in the video, is step 3-grasp(crumpled_paper_balls) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_coke_from_refrigerator_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving a coke from the refrigerator and placing it on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-mobile(refrigerator_former),2-move_to(none, refrigerator_handle),3-grasp(refrigerator_handle),4-pull(refrigerator,state_of_open),5-observation(coke_bottle),6-move_to(coke_bottle),7-grasp(coke_bottle),8-pick_up(coke_bottle),9-move_to(coke_bottle,refrigerator_handle),10-grasp(refrigerator_handle),11-push(refrigerator,state_of_close),12-observation(table),13-mobile(table_former),14-move_to(coke_botttle,table),15-place(coke_bottle,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_coke_from_refrigerator_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving a coke from the refrigerator and placing it on a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "7-grasp(coke_bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_coke_from_refrigerator_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving a coke from the refrigerator and placing it on a table> as the goal, steps so far are shown in the video, is step 8-pick_up(coke_bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <filling a watering can with water and watering a plant on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 17 steps.",
+    "gt_answer": "1-move_to(none,faucet_switch),2-grasp(faucet_switch),3-turn(faucet_switch,backward,state_of_open),4-turn(faucet_switch,forward,state_of_close),5-move_to(none,watering_can_top),6-grasp(watering_can_top),7-pick_up(watering_can),8-place(watering_can,sink_platform),9-move_to(none,watering_can_handle),10-grasp(watering_can_handle),11-pick_up(watering_can),12-observation(plant_on_table),13-mobile(table_former),14-move_to(watering_can, plant),15-pour(watering_can,water, plant),16-move_to(watering_can,table),17-place(watering_can,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_2_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <filling a watering can with water and watering a plant on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-grasp(watering_can_top)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/water_plant_2_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <filling a watering can with water and watering a plant on the table> as the goal, steps so far are shown in the video, is step 6-grasp(watering_can_top) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_dual_arm_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <throwing paper garbage into a trash bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-observation(paper_garbage),2-left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper),3-left:pick_up(paper_ball),right:pick_up(paper_ball),4-observation(trash_bin),5-mobile(trash_can_former),6-left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin),7-left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_garbage_with_dual_arm_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <throwing crumpled paper into a trash bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-left:move_to(none,left_crumpled_paper),right:move_to(none,right_crumpled_paper),2-left:grasp(left_crumpled_paper),right:grasp(right_crumpled_paper),3-left:pick_up(paper_ball),right:pick_up(paper_ball),4-observation(trash_bin),5-mobile(trash_can_former),6-left:move_to(paper_ball, trash_bin), right:move_to(paper_ball, trash_bin),7-left:place(paper_ball, trash_bin),right:place(paper_ball, trash_bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_mouse_from_drawer_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <retrieving a mouse from a drawer onto table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 14 steps.",
+    "gt_answer": "1-mobile(organizer_box_former),2-right:move_to(bottom_right_organizer_box_handle),left:no_ops,3-right:grasp(bottom_right_organizer_box_handle),left:no_ops,4-right:pull(bottom_right_organizer_box_handle,open),left:no_ops,5-right:move_to(none,mouse),left:no_ops,6-right:grasp(mouse),left:no_ops,7-right:pick_up(mouse),left:no_ops,8-right:no_ops,left:move_to(none,bottom_right_organizer_box_handle),9-right:no_ops,left:grasp(bottom_right_organizer_box_handle),10-right:no_ops,left:push(bottom_right_organizer_box_handle,close),11-observation(table),12-mobile(table_left),13-right:move_to(mouse,table),left:no_ops,14-right:place(mouse,table),left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/book_to_shelf_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <placing a book onto a shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-mobile(table_former),2-right:move_to(none,book),left:no_ops,3-right:grasp(book),left:no_ops,4-right:pick_up(book),left:no_ops,5-observation(shelf),,6-mobile(table_left),7-right:move_to(book, shelf),left:no_ops,8-right:place(book, shelf),left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_sandwich_from_oven_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving bread from a microwave oven and placing it in a basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-mobile(microwave_oven_on_cupboard_former),2-move_to(none,microwave_oven_door),3-grasp(microwave_oven_door_handle),4-pull(microwave_oven_door,state_of_open),5-observation(sandwich),6-move_to(none, sandwich),7-grasp(sandwich),8-pick_up(sandwich),9-move_to(sandwich,microwave_oven_door_handle),10-grasp(microwave_oven_door_handle),11-push(microwave_oven_door,stare_of_close),12-observation(basket_on_the_table),13-mobile(table_former),14-move_to(sandwich, basket),15-place(sandwich, basket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_sandwich_from_oven_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving bread from a microwave oven and placing it in a basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "7-grasp(sandwich)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_sandwich_from_oven_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <retrieving bread from a microwave oven and placing it in a basket> as the goal, steps so far are shown in the video, is step 2-move_to(none, microwave_oven_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_pen_pencil_into_container_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <placing a pen and a pencil into a container> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-mobile(table_left),2-move_to(none,pencil),3-grasp(pencil),4-pick_up(pencil),5-move_to(pencil,container),6-place(pencil,container),7-move_to(none,pen),8-grasp(pen),9-pick_up(pen),10-move_to(pen,container),11-place(pen, container),12-place(pen,container)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_pen_pencil_into_container_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <placing a pen and a pencil into a container> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-move_to(none, pencil)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/take_pen_pencil_into_container_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <placing a pen and a pencil into a container> as the goal, steps so far are shown in the video, is step 1-mobile(table_left) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/prepare_black_green_tea_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <preparing two cups of tea using tea bags from a tea box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-left:move_to(none,lid_of_the_tea_box),right:no_ops,2-left:open(lid_of_the_tea_box),right:no_ops,3-left:turn(lid_of_the_tea_box,up,state_of_open),right:no_ops,4-right:move_to(none, tea_box), left:move_to(none, tea_box),5-right:grasp(yellow_tea_bag),left:grasp(green_tea_bag),6-right:pick_up(yellow_tea_bag),left:pick_up(green_tea_bag),7-observation(paper_cup),8-mobile(table),9-right:move_to(tea_bag, yellow_cup_on_the_table),left:move_to(tea_bag, green_cup_on_the_table),10-left:place(tea_bag, green_cup_on_the_table),right:move_to(tea_bag, yellow_cup_on_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/throw_paper_cup_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <throwing a paper cup into a trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,paper_cup),2-left:grasp(paper_cup), right:grasp(paper_cup),3-pick_up(paper_cup),4-observation(trash_can),5-mobile(trash_can_former),6-move_to(paper_cup, trash_can),7-place(paper_cup,trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/book_to_shelf_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <placing a book onto a shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-right:move_to(none,book_right),left:move_to(none,book_left),2-left:grasp(book_left), right:grasp(book_right),3-right:push(book_right,Left_side_of_the_table),left:pick_up(book),4-observation(shelf),5-mobile(table_left),6-right:no_ops,left:move_to(book,shelf_on_table),7-right:no_ops,left:place(book,shelf_on_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_off_letter_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Erase the letter A from the whiteboard> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-mobile(marker_holder_on_whiteboard_former),2-move_to(none,marker_holder_on_whiteboard),3-grasp(whiteboard_eraser),4-pick_up(whiteboard_eraser),5-observation(letter_'a'_on_whiteboard),6-mobile(letter_'a'_on_whiteboard_former),7-move_to(whiteboard_eraser, letter_'a'),8-grasp(whiteboard_eraser),9-wipe(whiteboard_eraser, letter_'a',on_whiteboard),10-observation(marker_holder_on_whiteboard),11-mobile(marker_holder_on_whiteboard_former),12-move_to(whiteboard_eraser, marker_holder_on_whiteboard),13-place(whiteboard_eraser, marker_holder)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_off_letter_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Erase the letter A from the whiteboard> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-observation(letter_'a'_on_whiteboard)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/wipe_off_letter_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Erase the letter A from the whiteboard> as the goal, steps so far are shown in the video, is step 2-move_to(none, marker_holder_on_whiteboard) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <Fry the oil and shrimp in a pan and pour in a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 29 steps.",
+    "gt_answer": "1-left:no_ops,right:move_to(none,oil_bottle_handle),2-left:no_ops, right:grasp(oil_bottle_handle),3-left:no_ops, right:pick_up(oil_bottle),4-left:no_ops, right:move_to(oil_bottle,pan),5-left:no_ops, right:pour(oil_bottle,oil, pan),6-left:no_ops, right:move_to(oil_bottle,cabinet_counter),7-left:no_ops, right:place(oil_bottle,cabinet_counter),8-left:no_ops, right:move_to(none,bowl_with_shrimp),9-left:no_ops, right:grasp(bowl_with_shrimp_edge),10-left:no_ops, right:pick_up(bowl_with_shrimp),11-left:no_ops, right:move_to(bowl_with_shrimp, pan),12-left:no_ops, right:pour(bowl_with_shrimp,shrimp, pan),13-left: no_ops,right: move_to(bowl_with_shwimp,cabinet_counter),14-left: no_ops, right: place(bowl_with_shwimp,cabinet_counter),15-left: no_ops, right: move_to(none,spatula),16-left: no_ops, right: grasp(spatula_handle),17-left: no_ops, right: pick_up(spatula),18-left: no_ops, right: move_to(spatula, pan),19-left: no_ops, right: grasp(spatula, shrimp_in_pan),20-left: no_ops, right: stir(spatula, shrimp,pan),21-left: move_to(none,pen_handle), right: move_to(spatula,cabinet_counter),22-left:grasp(pen_hadle), right: place(spatula,cabinet_counter),23-left: pick_up(pan_handle), right: no_ops,24-observation(serving_bowl_table),25-mobile(serving_bowl_former),26-left:move_to(pan, serving_bowl), right:no_ops,,27-left:pour(pan,shrimp, serving_bowl), right:no_ops,,28-left:move_to(pan, serving_bowl_left_table), right:no_ops,29-left:place(pen,table), right:no_ops,",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_37_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <pushing three chairs under a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-observation(chair),2-mobile(chair),3-left: move_to(none,top_left_chair), right: move_to(none,top_right_chair),4-left: grasp(top_left_chair), right: grasp(top_right_chair),5-left: push(chair,under_the_ table), right: push(chair, under_the_ table),6-observation(chair),7-mobile(chair),8-left: move_to(none,top_left_chair), right: move_to(none,top_right_chair),9-left: grasp(top_left_chair), right: grasp(top_right_chair),10-left: push(chair, under_the_table), right: push(chair,under_the_ table),11-observation(chair),12-mobile(chair),13-left: move_to(none,top_left_chair), right: move_to(none,top_right_chair),14-left: grasp(top_left_chair), right: grasp(top_right_chair),15-left:push(chair, under_the_table), right:push(chair, under_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_46_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <washing a pan in a sink with water> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-left:move_to(none,pan_handle),right:no_ops,2-left:grasp(pan_handle), right: no_ops,3-left:pick_up(pan), right: no_ops,4-observation(sink),5-mobile(sink_former),6-left:move_to(pan, under_faucet_in_sink), right:move_to(none,faucet_switch_handle),7-left:hold(pan), right:grasp(faucet_switch_handle),8-left:hold(pan), right:turn(faucet_switch_handle,down,state_of_open),9-left:hold(pan), right:turn(faucet_switch_handle,up,state_of_close),10-left:pour(pan,water,sink), right:no_ops,11-left:move_to(pan,kitchen_racks), right:no_ops,12-left:place(pan,kitchen_racks), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_71_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <washing a pan in the sink with water> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-left:move_to(none,pan_handle),right:no_ops,2-left:grasp(pan_handle), right: no_ops,3-left:pick_up(pan), right: no_ops,4-observation(sink),5-mobile(sink_former),6-left:move_to(pan, under_faucet_in_sink),right:move_to(none,faucet_switch_handle),7-left:hold(pan),right:grasp(faucet_switch_handle),8-left:hold(pan),right:turn(faucet_switch_handle,down,state_of_open),9-left:hold(pan),right:turn(faucet_switch_handle,up,state_of_close),10-left:pour(pan,water,sink), right:no_ops,11-left:move_to(pan,kitchen_racks), right:no_ops,12-left:place(pan,kitchen_racks), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_77_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <pushing three chairs under a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-observation(chair),2-mobile(chair),3-left: move_to(none,top_left_chair), right: move_to(none,top_right_chair),4-left: grasp(top_left_chair), right: grasp(top_right_chair),5-left: push(chair,under_the_ table), right: push(chair, under_the_ table),6-observation(chair),7-mobile(chair),8-left: move_to(none,top_left_chair), right: move_to(none,top_right_chair),9-left: grasp(top_left_chair), right: grasp(top_right_chair),10-left: push(chair, under_the_table), right: push(chair,under_the_ table),11-observation(chair),12-mobile(chair),13-left: move_to(none,top_left_chair), right: move_to(none,top_right_chair),14-left: grasp(top_left_chair), right: grasp(top_right_chair),15-left:push(chair, under_the_table), right:push(chair, under_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_89_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <wiping up a spill on a countertop with a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-mobile(sink_former),2-right:move_to(none,dishcloth,)left:no_ops,3-left:no_ops, right:grasp(dishcloth),4-left:no_ops, right:pick_up(dishcloth),5-observation(countertop),6-mobile(countertop),7-left:move_to(none,goblet)right:hold(dishcloth),8-left:grasp(goblet)right:hold(dishcloth),9-left:pick_up(goblet)right:move_to(dishcloth,countertop),10-left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop),11-left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop),12-left:place(goble,countertop), right:place(dishcloth, top_right_countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_102_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <wiping up a spill on a countertop with a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-mobile(sink_former),2-right:move_to(none,dishcloth),left:no_ops,3-left:no_ops, right:grasp(dishcloth),4-left:no_ops, right:pick_up(dishcloth),5-observation(countertop),6-mobile(countertop),7-left:move_to(none,goblet)right:hold(dishcloth),8-left:grasp(goblet)right:hold(dishcloth),9-left:pick_up(goblet)right:move_to(dishcloth,countertop),10-left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop),11-left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop),12-left:place(goble,countertop), right:place(dishcloth, top_right_countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_124_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <enter the elevator and select the floor> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-observation(elevator),2-mobile(elevator),3-left:no_ops, right:move_to(none,elevator_call_button),4-left:no_ops, right:press(elevator_call_button),5-mobile(into_elevator),6-left:no_ops,right:move_to(nove,button_inside_elevator),7-left:no_ops,right:press(button_inside_elevator)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_124_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <enter the elevator and select the floor> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-left:no_ops, right:press(elevator_call_button)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_124_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <enter the elevator and select the floor> as the goal, steps so far are shown in the video, is step 1-observation(elevator) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_181_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <wiping up a spill on a countertop with a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-mobile(sink_former),2-right:move_to(none,dishcloth),left:no_ops,3-left:no_ops, right:grasp(dishcloth),4-left:no_ops, right:pick_up(dishcloth),5-observation(countertop),6-mobile(countertop),7-left:move_to(none,goblet)right:hold(dishcloth),8-left:grasp(goblet)right:hold(dishcloth),9-left:pick_up(goblet)right:move_to(dishcloth,countertop),10-left:hold(goble), right:wipe(dishcloth,spilled_drinks ,countertop),11-left:move_to(goble,countertop), right:move_to(dishcloth, top_right_countertop),12-left:place(goble,countertop), right:place(dishcloth, top_right_countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_182_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <adding oil to a pan, cooking shrimp, and serving it in a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 29 steps.",
+    "gt_answer": "1-left:no_ops,right:move_to(none,oil_bottle_handle),2-left:no_ops, right:grasp(oil_bottle_handle),3-left:no_ops, right:pick_up(oil_bottle),4-left:no_ops, right:move_to(oil_bottle,pan),5-left:no_ops, right:pour(oil_bottle,oil, pan),6-left:no_ops, right:move_to(oil_bottle,cabinet_counter),7-left:no_ops, right:place(oil_bottle,cabinet_counter),8-left:no_ops, right:move_to(none,bowl_with_shrimp),9-left:no_ops, right:grasp(bowl_with_shrimp_edge),10-left:no_ops, right:pick_up(bowl_with_shrimp),11-left:no_ops, right:move_to(bowl_with_shrimp, pan),12-left:no_ops, right:pour(bowl_with_shrimp,shrimp, pan),13-left: no_ops,right: move_to(bowl_with_shwimp,cabinet_counter),14-left: no_ops, right: place(bowl_with_shwimp,cabinet_counter),15-left: no_ops, right: move_to(none,spatula),16-left: no_ops, right: grasp(spatula_handle),17-left: no_ops, right: pick_up(spatula),18-left: no_ops, right: move_to(spatula, pan),19-left: no_ops, right: grasp(spatula, shrimp_in_pan),20-left: no_ops, right: stir(spatula, shrimp,pan),21-left: move_to(none,pen_handle), right: move_to(spatula,cabinet_counter),22-left:grasp(pen_hadle), right: place(spatula,cabinet_counter),23-left: pick_up(pan_handle), right: no_ops,24-observation(serving_bowl_table),25-mobile(serving_bowl_former),26-left:move_to(pan, serving_bowl), right:no_ops,,27-left:pour(pan,shrimp, serving_bowl), right:no_ops,,28-left:move_to(pan, serving_bowl_left_table), right:no_ops,29-left:place(pen,table), right:no_ops,",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_216_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Enter the elevator and select the floor> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-observation(elevator),2-mobile(elevator),3-left:no_ops, right:move_to(none,elevator_call_button),4-left:no_ops, right:press(elevator_call_button),5-mobile(into_elevator),6-lefr:no_ops,right:move_to(none,button_inside_elevator),7-left:no_ops,right:press(button_inside_elevator)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_216_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Enter the elevator and select the floor> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-left:no_ops, right:press(elevator_call_button)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_216_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Enter the elevator and select the floor> as the goal, steps so far are shown in the video, is step 2-mobile(elevator) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_217_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Enter the elevator and select the floor> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-observation(elevator),2-mobile(elevator),3-left:no_ops, right:move_to(none,elevator_call_button),4-left:no_ops, right:press(elevator_call_button),5-mobile(into_elevator),6-left:no_ops,right:move_to(none,button_inside_elevator),7-left:no_ops,right:press(button_inside_elevator)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_217_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Enter the elevator and select the floor> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-left:no_ops, right:move_to(none, elevator_call_button)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_217_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_single_arm",
+    "question": "With <Enter the elevator and select the floor> as the goal, steps so far are shown in the video, is step 1-observation(elevator) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/mobile_manipulation/images/rt_frames_success_rtx_frames_success_21_53_aloha_mobile#episode_252_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "mobile_manipulation"
+    ],
+    "input_type": "video",
+    "robotic_type": "mobile_manipulation_with_dual_arm",
+    "question": "With <washing a pan in the sink with water> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-left:move_to(none,pan_handle),right:no_ops,2-left:grasp(pan_handle), right: no_ops,3-left:pick_up(pan), right: no_ops,4-observation(sink),5-mobile(sink_former),6-left:move_to(pan,under_faucet_in_sink),right:move_to(none,faucet_switch_handle),7-left:hold(pan),right:grasp(faucet_switch_handle),8-left:hold(pan),right:turn(faucet_switch_handle,down,state_of_open),9-left:hold(pan),right:turn(faucet_switch_handle,up,state_of_close),10-left:pour(pan,water,sink), right:no_ops,11-left:move_to(pan,kitchen_racks), right:no_ops,12-left:place(pan,kitchen_racks), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  }
+]
\ No newline at end of file
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+[
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_558",
+    "actions_list": [
+      "move_to(none, mouse)",
+      "grasp(mouse)",
+      "pick_up(mouse)",
+      "move_to(mouse, mouse_pad)",
+      "place(mouse, mouse_pad)"
+    ],
+    "gt_dag": {
+      "move_to(none, mouse)": [
+        "grasp(mouse)"
+      ],
+      "grasp(mouse)": [
+        "pick_up(mouse)"
+      ],
+      "pick_up(mouse)": [
+        "move_to(mouse, mouse_pad)"
+      ],
+      "move_to(mouse, mouse_pad)": [
+        "place(mouse, mouse_pad)"
+      ],
+      "place(mouse, mouse_pad)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_arrange_mouse_16_env_4_object_episode_558.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_661",
+    "actions_list": [
+      "move_to(none, left_edge_of_towel)",
+      "grasp(left_edge_of_towel)",
+      "fold(left_edge_of_towel, right_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_edge_of_towel)": [
+        "grasp(left_edge_of_towel)"
+      ],
+      "grasp(left_edge_of_towel)": [
+        "fold(left_edge_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_edge_of_towel, right_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_661.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_811",
+    "actions_list": [
+      "move_to(none, left_edge_of_towel)",
+      "grasp(left_edge_of_towel)",
+      "fold(left_edge_of_towel, right_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_edge_of_towel)": [
+        "grasp(left_edge_of_towel)"
+      ],
+      "grasp(left_edge_of_towel)": [
+        "fold(left_edge_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_edge_of_towel, right_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_811.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_938",
+    "actions_list": [
+      "move_to(none, left_edge_of_towel)",
+      "grasp(left_edge_of_towel)",
+      "fold(left_edge_of_towel, right_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_edge_of_towel)": [
+        "grasp(left_edge_of_towel)"
+      ],
+      "grasp(left_edge_of_towel)": [
+        "fold(left_edge_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_edge_of_towel, right_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_938.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1156",
+    "actions_list": [
+      "move_to(none, left_edge_of_towel)",
+      "grasp(left_edge_of_towel)",
+      "fold(left_edge_of_towel, right_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_edge_of_towel)": [
+        "grasp(left_edge_of_towel)"
+      ],
+      "grasp(left_edge_of_towel)": [
+        "fold(left_edge_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_edge_of_towel, right_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_1156.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1658",
+    "actions_list": [
+      "move_to(none, left_edge_of_towel)",
+      "grasp(left_edge_of_towel)",
+      "fold(left_edge_of_towel, right_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_edge_of_towel)": [
+        "grasp(left_edge_of_towel)"
+      ],
+      "grasp(left_edge_of_towel)": [
+        "fold(left_edge_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_edge_of_towel, right_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_1658.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1704",
+    "actions_list": [
+      "move_to(none, left_edge_of_towel)",
+      "grasp(left_edge_of_towel)",
+      "fold(left_edge_of_towel, right_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_edge_of_towel)": [
+        "grasp(left_edge_of_towel)"
+      ],
+      "grasp(left_edge_of_towel)": [
+        "fold(left_edge_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_edge_of_towel, right_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_fold_towel_episode_1704.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_21",
+    "actions_list": [
+      "move_to(none, drink_bottle)",
+      "grasp(drink_bottle)",
+      "pick_up(drink_bottle)",
+      "move_to(drink_bottle, cup)",
+      "pour(drink_bottle, drink, cup)",
+      "move_to(drink_bottle, table)",
+      "place(drink_bottle, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, drink_bottle)": [
+        "grasp(drink_bottle)"
+      ],
+      "grasp(drink_bottle)": [
+        "pick_up(drink_bottle)"
+      ],
+      "pick_up(drink_bottle)": [
+        "move_to(drink_bottle, cup)"
+      ],
+      "move_to(drink_bottle, cup)": [
+        "pour(drink_bottle, drink, cup)"
+      ],
+      "pour(drink_bottle, drink, cup)": [
+        "move_to(drink_bottle, table)"
+      ],
+      "move_to(drink_bottle, table)": [
+        "place(drink_bottle, table)"
+      ],
+      "place(drink_bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_pour_water_episode_21.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_1881",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, cup)",
+      "pour(bottle, water , cup)",
+      "move_to(bottle, table)",
+      "place(bottle, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, cup)"
+      ],
+      "move_to(bottle, cup)": [
+        "pour(bottle, water , cup)"
+      ],
+      "pour(bottle, water , cup)": [
+        "move_to(bottle, table)"
+      ],
+      "move_to(bottle, table)": [
+        "place(bottle, table)"
+      ],
+      "place(bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_pour_water_episode_1881.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_2016",
+    "actions_list": [
+      "move_to(none, drink_bottle)",
+      "grasp(drink_bottle)",
+      "pick_up(drink_bottle)",
+      "move_to(bottle, cup)",
+      "pour(bottle, drink , cup)",
+      "move_to(bottle, table)",
+      "place(bottle, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, drink_bottle)": [
+        "grasp(drink_bottle)"
+      ],
+      "grasp(drink_bottle)": [
+        "pick_up(drink_bottle)"
+      ],
+      "pick_up(drink_bottle)": [
+        "move_to(bottle, cup)"
+      ],
+      "move_to(bottle, cup)": [
+        "pour(bottle, drink , cup)"
+      ],
+      "pour(bottle, drink , cup)": [
+        "move_to(bottle, table)"
+      ],
+      "move_to(bottle, table)": [
+        "place(bottle, table)"
+      ],
+      "place(bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_pour_water_episode_2016.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_2065",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, cup)",
+      "pour(bottle, water , cup)",
+      "move_to(bottle, table)",
+      "place(bottle, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, cup)"
+      ],
+      "move_to(bottle, cup)": [
+        "pour(bottle, water , cup)"
+      ],
+      "pour(bottle, water , cup)": [
+        "move_to(bottle, table)"
+      ],
+      "move_to(bottle, table)": [
+        "place(bottle, table)"
+      ],
+      "place(bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_pour_water_episode_2065.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_3235",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, cup)",
+      "pour(bottle, water , cup)",
+      "move_to(bottle, table)",
+      "place(bottle, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, cup)"
+      ],
+      "move_to(bottle, cup)": [
+        "pour(bottle, water , cup)"
+      ],
+      "pour(bottle, water , cup)": [
+        "move_to(bottle, table)"
+      ],
+      "move_to(bottle, table)": [
+        "place(bottle, table)"
+      ],
+      "place(bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_DSL_shrinked_pour_water_episode_3235.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_79",
+    "actions_list": [
+      "move_to(none, stuffed_toy)",
+      "grasp(stuffed_toy)",
+      "pick_up(stuffed_toy)",
+      "move_to(stuffed_toy, gray_bowl)",
+      "place(stuffed_toy, gray_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, stuffed_toy)": [
+        "grasp(stuffed_toy)"
+      ],
+      "grasp(stuffed_toy)": [
+        "pick_up(stuffed_toy)"
+      ],
+      "pick_up(stuffed_toy)": [
+        "move_to(stuffed_toy, gray_bowl)"
+      ],
+      "move_to(stuffed_toy, gray_bowl)": [
+        "place(stuffed_toy, gray_bowl)"
+      ],
+      "place(stuffed_toy, gray_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_79.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_230",
+    "actions_list": [
+      "move_to(none, stuffed_toy)",
+      "grasp(stuffed_toy)",
+      "pick_up(stuffed_toy)",
+      "move_to(stuffed_toy, gray_bowl)",
+      "place(stuffed_toy, gray_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, stuffed_toy)": [
+        "grasp(stuffed_toy)"
+      ],
+      "grasp(stuffed_toy)": [
+        "pick_up(stuffed_toy)"
+      ],
+      "pick_up(stuffed_toy)": [
+        "move_to(stuffed_toy, gray_bowl)"
+      ],
+      "move_to(stuffed_toy, gray_bowl)": [
+        "place(stuffed_toy, gray_bowl)"
+      ],
+      "place(stuffed_toy, gray_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_230.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10236",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pull(cloth, bottom_middle_of_the_tabletop)",
+      "place(cloth, tabletop)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pull(cloth, bottom_middle_of_the_tabletop)"
+      ],
+      "pull(cloth, bottom_middle_of_the_tabletop)": [
+        "place(cloth, tabletop)"
+      ],
+      "place(cloth, tabletop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_2_49_bridge#episode_10236.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10418",
+    "actions_list": [
+      "move_to(none, spoon_handle)",
+      "grasp(spoon_handle)",
+      "pick_up(spoon)",
+      "move_to(spoon , the_lower_right_corner_of_the_table)",
+      "place(spoon , the_lower_right_corner_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon_handle)": [
+        "grasp(spoon_handle)"
+      ],
+      "grasp(spoon_handle)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon , the_lower_right_corner_of_the_table)"
+      ],
+      "move_to(spoon , the_lower_right_corner_of_the_table)": [
+        "place(spoon , the_lower_right_corner_of_the_table)"
+      ],
+      "place(spoon , the_lower_right_corner_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_2_49_bridge#episode_10418.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_10975",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, right_edge_of_the_table)",
+      "place(spoon, right_edge_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, right_edge_of_the_table)"
+      ],
+      "move_to(spoon, right_edge_of_the_table)": [
+        "place(spoon, right_edge_of_the_table)"
+      ],
+      "place(spoon, right_edge_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_3_49_bridge#episode_10975.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11760",
+    "actions_list": [
+      "move_to(none, mushroom)",
+      "grasp(mushroom)",
+      "pick_up(mushroom)",
+      "move_to(mushroom, front_edge_of_the_table)",
+      "place(mushroom, front_edge_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, mushroom)": [
+        "grasp(mushroom)"
+      ],
+      "grasp(mushroom)": [
+        "pick_up(mushroom)"
+      ],
+      "pick_up(mushroom)": [
+        "move_to(mushroom, front_edge_of_the_table)"
+      ],
+      "move_to(mushroom, front_edge_of_the_table)": [
+        "place(mushroom, front_edge_of_the_table)"
+      ],
+      "place(mushroom, front_edge_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_3_49_bridge#episode_11760.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12585",
+    "actions_list": [
+      "move_to(none, sausage)",
+      "grasp(sausage)",
+      "pick_up(sausage)",
+      "move_to(sausage, the_left_of_the_spoon)",
+      "place(sausage, the_left_of_the_spoon)"
+    ],
+    "gt_dag": {
+      "move_to(none, sausage)": [
+        "grasp(sausage)"
+      ],
+      "grasp(sausage)": [
+        "pick_up(sausage)"
+      ],
+      "pick_up(sausage)": [
+        "move_to(sausage, the_left_of_the_spoon)"
+      ],
+      "move_to(sausage, the_left_of_the_spoon)": [
+        "place(sausage, the_left_of_the_spoon)"
+      ],
+      "place(sausage, the_left_of_the_spoon)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_12585.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12946",
+    "actions_list": [
+      "move_to(none, pot)",
+      "grasp(pot)",
+      "pick_up(pot)",
+      "move_to(pot,  in_front_of_the_mushroom)",
+      "place(pot, in_front_of_the_mushroom)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot)": [
+        "grasp(pot)"
+      ],
+      "grasp(pot)": [
+        "pick_up(pot)"
+      ],
+      "pick_up(pot)": [
+        "move_to(pot,  in_front_of_the_mushroom)"
+      ],
+      "move_to(pot,  in_front_of_the_mushroom)": [
+        "place(pot, in_front_of_the_mushroom)"
+      ],
+      "place(pot, in_front_of_the_mushroom)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_12946.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13324",
+    "actions_list": [
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "move_to(bowl, bottom_of_the_spoon)",
+      "place(bowl, bottom_of_the_spoon)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl, bottom_of_the_spoon)"
+      ],
+      "move_to(bowl, bottom_of_the_spoon)": [
+        "place(bowl, bottom_of_the_spoon)"
+      ],
+      "place(bowl, bottom_of_the_spoon)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_13324.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13410",
+    "actions_list": [
+      "move_to(none, pot)",
+      "grasp(pot)",
+      "pick_up(pot)",
+      "move_to(pot, bottom_of_the_tabletop)",
+      "place(pot, bottom_of_the_tabletop)"
+    ],
+    "gt_dag": {
+      "grasp(pot)": [
+        "pick_up(pot)"
+      ],
+      "pick_up(pot)": [
+        "move_to(pot, bottom_of_the_tabletop)"
+      ],
+      "move_to(pot, bottom_of_the_tabletop)": [
+        "place(pot, bottom_of_the_tabletop)"
+      ],
+      "place(pot, bottom_of_the_tabletop)": [],
+      "move_to(none, pot)": [
+        "grasp(pot)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_4_49_bridge#episode_13410.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14536",
+    "actions_list": [
+      "move_to(none, rag)",
+      "grasp(rag)",
+      "pull(rag,next_to_the_blue_fork)",
+      "place(rag, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, rag)": [
+        "grasp(rag)"
+      ],
+      "grasp(rag)": [
+        "pull(rag,next_to_the_blue_fork)"
+      ],
+      "pull(rag,next_to_the_blue_fork)": [
+        "place(rag, table)"
+      ],
+      "place(rag, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_5_49_bridge#episode_14536.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_15082",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pull(cloth, left_edge_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pull(cloth, left_edge_of_the_table)"
+      ],
+      "pull(cloth, left_edge_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_5_49_bridge#episode_15082.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1566",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, in_front_of_the_microwave)",
+      "place(spoon,  in_front_of_the_microwave)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, in_front_of_the_microwave)"
+      ],
+      "move_to(spoon, in_front_of_the_microwave)": [
+        "place(spoon,  in_front_of_the_microwave)"
+      ],
+      "place(spoon,  in_front_of_the_microwave)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_6_49_bridge#episode_1566.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1609",
+    "actions_list": [
+      "move_to(none, pot)",
+      "grasp(pot)",
+      "pick_up(pot)",
+      "move_to(pot, in_front_of_a_yellow_towel)",
+      "place(pot, in_front_of_a_yellow_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot)": [
+        "grasp(pot)"
+      ],
+      "grasp(pot)": [
+        "pick_up(pot)"
+      ],
+      "pick_up(pot)": [
+        "move_to(pot, in_front_of_a_yellow_towel)"
+      ],
+      "move_to(pot, in_front_of_a_yellow_towel)": [
+        "place(pot, in_front_of_a_yellow_towel)"
+      ],
+      "place(pot, in_front_of_a_yellow_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_6_49_bridge#episode_1609.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1610",
+    "actions_list": [
+      "move_to(none, pot)",
+      "grasp(pot)",
+      "pick_up(pot)",
+      "move_to(pot, bottom_left_corner_of_the_table)",
+      "place(pot, bottom_left_corner_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot)": [
+        "grasp(pot)"
+      ],
+      "grasp(pot)": [
+        "pick_up(pot)"
+      ],
+      "pick_up(pot)": [
+        "move_to(pot, bottom_left_corner_of_the_table)"
+      ],
+      "move_to(pot, bottom_left_corner_of_the_table)": [
+        "place(pot, bottom_left_corner_of_the_table)"
+      ],
+      "place(pot, bottom_left_corner_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_6_49_bridge#episode_1610.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_15473",
+    "actions_list": [
+      "move_to(none, spatula)",
+      "grasp(spatula)",
+      "pick_up(spatula)",
+      "move_to(spatula, right_edge_of_the_table)",
+      "place(spatula, right_edge_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spatula)": [
+        "grasp(spatula)"
+      ],
+      "grasp(spatula)": [
+        "pick_up(spatula)"
+      ],
+      "pick_up(spatula)": [
+        "move_to(spatula, right_edge_of_the_table)"
+      ],
+      "move_to(spatula, right_edge_of_the_table)": [
+        "place(spatula, right_edge_of_the_table)"
+      ],
+      "place(spatula, right_edge_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_6_49_bridge#episode_15473.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_16026",
+    "actions_list": [
+      "move_to(none, cauliflower)",
+      "grasp(cauliflower)",
+      "pick_up(cauliflower)",
+      "move_to(cauliflower, left_edge_of_the_table)",
+      "place(cauliflower, left_edge_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cauliflower)": [
+        "grasp(cauliflower)"
+      ],
+      "grasp(cauliflower)": [
+        "pick_up(cauliflower)"
+      ],
+      "pick_up(cauliflower)": [
+        "move_to(cauliflower, left_edge_of_the_table)"
+      ],
+      "move_to(cauliflower, left_edge_of_the_table)": [
+        "place(cauliflower, left_edge_of_the_table)"
+      ],
+      "place(cauliflower, left_edge_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_6_49_bridge#episode_16026.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16744",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, behind_the_cloth)",
+      "place(bottle, behind_the_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, behind_the_cloth)"
+      ],
+      "move_to(bottle, behind_the_cloth)": [
+        "place(bottle, behind_the_cloth)"
+      ],
+      "place(bottle, behind_the_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_7_49_bridge#episode_16744.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_17815",
+    "actions_list": [
+      "move_to(none, can)",
+      "grasp(can)",
+      "pick_up(can)",
+      "move_to(can , top_right_corner_of_the_table)",
+      "place(can , top_right_corner_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, can)": [
+        "grasp(can)"
+      ],
+      "grasp(can)": [
+        "pick_up(can)"
+      ],
+      "pick_up(can)": [
+        "move_to(can , top_right_corner_of_the_table)"
+      ],
+      "move_to(can , top_right_corner_of_the_table)": [
+        "place(can , top_right_corner_of_the_table)"
+      ],
+      "place(can , top_right_corner_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_7_49_bridge#episode_17815.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_1926",
+    "actions_list": [
+      "move_to(none, pumpkin)",
+      "grasp(pumpkin)",
+      "pick_up(pumpkin)",
+      "move_to(pumpkin, bottom left corner of the table)",
+      "place(pumpkin, bottom left corner of the table)"
+    ],
+    "gt_dag": {
+      "move_to(none, pumpkin)": [
+        "grasp(pumpkin)"
+      ],
+      "grasp(pumpkin)": [
+        "pick_up(pumpkin)"
+      ],
+      "pick_up(pumpkin)": [
+        "move_to(pumpkin, bottom left corner of the table)"
+      ],
+      "move_to(pumpkin, bottom left corner of the table)": [
+        "place(pumpkin, bottom left corner of the table)"
+      ],
+      "place(pumpkin, bottom left corner of the table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_8_49_bridge#episode_1926.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18185",
+    "actions_list": [
+      "move_to(none, mushroom)",
+      "grasp(mushroom)",
+      "pick_up(mushroom)",
+      "move_to(mushroom, in_front_of_the_microwave)",
+      "place(mushroom, in_front_of_the_microwave)"
+    ],
+    "gt_dag": {
+      "move_to(none, mushroom)": [
+        "grasp(mushroom)"
+      ],
+      "grasp(mushroom)": [
+        "pick_up(mushroom)"
+      ],
+      "pick_up(mushroom)": [
+        "move_to(mushroom, in_front_of_the_microwave)"
+      ],
+      "move_to(mushroom, in_front_of_the_microwave)": [
+        "place(mushroom, in_front_of_the_microwave)"
+      ],
+      "place(mushroom, in_front_of_the_microwave)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_8_49_bridge#episode_18185.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18257",
+    "actions_list": [
+      "move_to(none, cabinet_door)",
+      "grasp(cabinet_door)",
+      "push(cabinet_door)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door)": [
+        "grasp(cabinet_door)"
+      ],
+      "grasp(cabinet_door)": [
+        "push(cabinet_door)"
+      ],
+      "push(cabinet_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_8_49_bridge#episode_18257.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19131",
+    "actions_list": [
+      "move_to(none, pot)",
+      "grasp(pot)",
+      "pick_up(pot)",
+      "move_to(pot, table)",
+      "place(pot, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot)": [
+        "grasp(pot)"
+      ],
+      "grasp(pot)": [
+        "pick_up(pot)"
+      ],
+      "pick_up(pot)": [
+        "move_to(pot, table)"
+      ],
+      "move_to(pot, table)": [
+        "place(pot, table)"
+      ],
+      "place(pot, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_8_49_bridge#episode_19131.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_1974",
+    "actions_list": [
+      "move_to(none, brush)",
+      "grasp(brush)",
+      "pick_up(brush)",
+      "move_to(brush, behind_the_pan)",
+      "place(brush, behind_the_pan)"
+    ],
+    "gt_dag": {
+      "move_to(none, brush)": [
+        "grasp(brush)"
+      ],
+      "grasp(brush)": [
+        "pick_up(brush)"
+      ],
+      "pick_up(brush)": [
+        "move_to(brush, behind_the_pan)"
+      ],
+      "move_to(brush, behind_the_pan)": [
+        "place(brush, behind_the_pan)"
+      ],
+      "place(brush, behind_the_pan)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_1974.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19836",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, right_edge_of_the_table)",
+      "place(spoon, right_edge_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, right_edge_of_the_table)"
+      ],
+      "move_to(spoon, right_edge_of_the_table)": [
+        "place(spoon, right_edge_of_the_table)"
+      ],
+      "place(spoon, right_edge_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_19836.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20302",
+    "actions_list": [
+      "move_to(none, mushroom)",
+      "grasp(mushroom)",
+      "pick_up(mushroom)",
+      "move_to(mushroom, between_pot_and_cloth)",
+      "place(mushroom, between_pot_and_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, mushroom)": [
+        "grasp(mushroom)"
+      ],
+      "grasp(mushroom)": [
+        "pick_up(mushroom)"
+      ],
+      "pick_up(mushroom)": [
+        "move_to(mushroom, between_pot_and_cloth)"
+      ],
+      "move_to(mushroom, between_pot_and_cloth)": [
+        "place(mushroom, between_pot_and_cloth)"
+      ],
+      "place(mushroom, between_pot_and_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_20302.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20487",
+    "actions_list": [
+      "move_to(none , brush)",
+      "grasp(brush)",
+      "pick_up(brush)",
+      "move_to(brush, behind_the_pot)",
+      "place(brush, behind_the_pot)"
+    ],
+    "gt_dag": {
+      "move_to(none , brush)": [
+        "grasp(brush)"
+      ],
+      "grasp(brush)": [
+        "pick_up(brush)"
+      ],
+      "pick_up(brush)": [
+        "move_to(brush, behind_the_pot)"
+      ],
+      "move_to(brush, behind_the_pot)": [
+        "place(brush, behind_the_pot)"
+      ],
+      "place(brush, behind_the_pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_9_49_bridge#episode_20487.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_20952",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pull(cloth, top_right_corner_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pull(cloth, top_right_corner_of_table)"
+      ],
+      "pull(cloth, top_right_corner_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_20952.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21190",
+    "actions_list": [
+      "move_to(none, chicken_leg)",
+      "grasp(chicken_leg)",
+      "pick_up(chicken_leg)",
+      "move_to(chicken_leg, in_front_of_the_oven)",
+      "place(chicken_leg, in_front_of_the_oven)"
+    ],
+    "gt_dag": {
+      "move_to(none, chicken_leg)": [
+        "grasp(chicken_leg)"
+      ],
+      "grasp(chicken_leg)": [
+        "pick_up(chicken_leg)"
+      ],
+      "pick_up(chicken_leg)": [
+        "move_to(chicken_leg, in_front_of_the_oven)"
+      ],
+      "move_to(chicken_leg, in_front_of_the_oven)": [
+        "place(chicken_leg, in_front_of_the_oven)"
+      ],
+      "place(chicken_leg, in_front_of_the_oven)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_21190.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21309",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pull(cloth, left_edge_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pull(cloth, left_edge_of_the_table)"
+      ],
+      "pull(cloth, left_edge_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_21309.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21392",
+    "actions_list": [
+      "move_to(none, sushi)",
+      "pick_up(sushi)",
+      "move_to(sushi, bottom_right_corner_of_the_table)",
+      "place(sushi, bottom_right_corner_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, sushi)": [
+        "pick_up(sushi)"
+      ],
+      "pick_up(sushi)": [
+        "move_to(sushi, bottom_right_corner_of_the_table)"
+      ],
+      "move_to(sushi, bottom_right_corner_of_the_table)": [
+        "place(sushi, bottom_right_corner_of_the_table)"
+      ],
+      "place(sushi, bottom_right_corner_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_21392.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21825",
+    "actions_list": [
+      "move_to(none, toy)",
+      "grasp(toy)",
+      "pick_up(toy)",
+      "move_to(toy, behind_the_pot)",
+      "place(toy, behind_the_pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, toy)": [
+        "grasp(toy)"
+      ],
+      "grasp(toy)": [
+        "pick_up(toy)"
+      ],
+      "pick_up(toy)": [
+        "move_to(toy, behind_the_pot)"
+      ],
+      "move_to(toy, behind_the_pot)": [
+        "place(toy, behind_the_pot)"
+      ],
+      "place(toy, behind_the_pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_21825.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21946",
+    "actions_list": [
+      "move_to(none, cleaning_brush)",
+      "grasp(cleaning_brush)",
+      "pick_up(cleaning_brush)",
+      "move_to(brush, cloth)",
+      "place(brush, cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, cleaning_brush)": [
+        "grasp(cleaning_brush)"
+      ],
+      "grasp(cleaning_brush)": [
+        "pick_up(cleaning_brush)"
+      ],
+      "pick_up(cleaning_brush)": [
+        "move_to(brush, cloth)"
+      ],
+      "move_to(brush, cloth)": [
+        "place(brush, cloth)"
+      ],
+      "place(brush, cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_21946.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_22123",
+    "actions_list": [
+      "move_to(none, avocado)",
+      "grasp(avocado)",
+      "pick_up(avocado)",
+      "move_to(avocado, next_to_spatula)",
+      "place(avocado, next_to_spatula)"
+    ],
+    "gt_dag": {
+      "move_to(none, avocado)": [
+        "grasp(avocado)"
+      ],
+      "grasp(avocado)": [
+        "pick_up(avocado)"
+      ],
+      "pick_up(avocado)": [
+        "move_to(avocado, next_to_spatula)"
+      ],
+      "move_to(avocado, next_to_spatula)": [
+        "place(avocado, next_to_spatula)"
+      ],
+      "place(avocado, next_to_spatula)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_10_49_bridge#episode_22123.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22243",
+    "actions_list": [
+      "move_to(none, pan)",
+      "grasp(pan)",
+      "pick_up(pan)",
+      "move_to(pan ,  left_stove)",
+      "place(pan, left_stove)",
+      "move_to(none, stuffed_duck)",
+      "pick_up(stuffed_duck)",
+      "move_to(stuffed_duck, pan)",
+      "place(stuffed_duck, pan)"
+    ],
+    "gt_dag": {
+      "move_to(none, pan)": [
+        "grasp(pan)"
+      ],
+      "grasp(pan)": [
+        "pick_up(pan)"
+      ],
+      "pick_up(pan)": [
+        "move_to(pan ,  left_stove)"
+      ],
+      "move_to(pan ,  left_stove)": [
+        "place(pan, left_stove)"
+      ],
+      "place(pan, left_stove)": [
+        "move_to(none, stuffed_duck)"
+      ],
+      "move_to(none, stuffed_duck)": [
+        "pick_up(stuffed_duck)"
+      ],
+      "pick_up(stuffed_duck)": [
+        "move_to(stuffed_duck, pan)"
+      ],
+      "move_to(stuffed_duck, pan)": [
+        "place(stuffed_duck, pan)"
+      ],
+      "place(stuffed_duck, pan)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_11_49_bridge#episode_22243.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22408",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pull(cloth, between_pot_and_spoon)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pull(cloth, between_pot_and_spoon)"
+      ],
+      "pull(cloth, between_pot_and_spoon)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_11_49_bridge#episode_22408.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_23829",
+    "actions_list": [
+      "move_to(none, can)",
+      "grasp(can)",
+      "pull(can,in_front_of_the_tabletop)"
+    ],
+    "gt_dag": {
+      "move_to(none, can)": [
+        "grasp(can)"
+      ],
+      "grasp(can)": [
+        "pull(can,in_front_of_the_tabletop)"
+      ],
+      "pull(can,in_front_of_the_tabletop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_12_49_bridge#episode_23829.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24313",
+    "actions_list": [
+      "move_to(none, pot)",
+      "grasp(pot)",
+      "pick_up(pot)",
+      "move_to(pot, blue_cloth)",
+      "place(pot, blue_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot)": [
+        "grasp(pot)"
+      ],
+      "grasp(pot)": [
+        "pick_up(pot)"
+      ],
+      "pick_up(pot)": [
+        "move_to(pot, blue_cloth)"
+      ],
+      "move_to(pot, blue_cloth)": [
+        "place(pot, blue_cloth)"
+      ],
+      "place(pot, blue_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_12_49_bridge#episode_24313.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_3800",
+    "actions_list": [
+      "move_to(none , pan)",
+      "grasp(pan)",
+      "pick_up(pan)",
+      "move_to(pan, left_stove)",
+      "place(pan, left_stove)",
+      "move_to(none, potato)",
+      "grasp(potato)",
+      "pick_up(potato)",
+      "move_to(potato, pot)",
+      "place(potato, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none , pan)": [
+        "grasp(pan)"
+      ],
+      "grasp(pan)": [
+        "pick_up(pan)"
+      ],
+      "pick_up(pan)": [
+        "move_to(pan, left_stove)"
+      ],
+      "move_to(pan, left_stove)": [
+        "place(pan, left_stove)"
+      ],
+      "place(pan, left_stove)": [
+        "move_to(none, potato)"
+      ],
+      "move_to(none, potato)": [
+        "grasp(potato)"
+      ],
+      "grasp(potato)": [
+        "pick_up(potato)"
+      ],
+      "pick_up(potato)": [
+        "move_to(potato, pot)"
+      ],
+      "move_to(potato, pot)": [
+        "place(potato, pot)"
+      ],
+      "place(potato, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_14_49_bridge#episode_3800.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4037",
+    "actions_list": [
+      "move_to(none , apple)",
+      "grasp(apple)",
+      "pick_up(apple)",
+      "move_to(apple, plate)",
+      "place(apple, plate)",
+      "move_to(none , croissant)",
+      "grasp(croissant)",
+      "pick_up(croissant)",
+      "move_to(croissant, pot)",
+      "place(croissant, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none , apple)": [
+        "grasp(apple)"
+      ],
+      "grasp(apple)": [
+        "pick_up(apple)"
+      ],
+      "pick_up(apple)": [
+        "move_to(apple, plate)"
+      ],
+      "move_to(apple, plate)": [
+        "place(apple, plate)"
+      ],
+      "place(apple, plate)": [],
+      "move_to(none , croissant)": [
+        "grasp(croissant)"
+      ],
+      "grasp(croissant)": [
+        "pick_up(croissant)"
+      ],
+      "pick_up(croissant)": [
+        "move_to(croissant, pot)"
+      ],
+      "move_to(croissant, pot)": [
+        "place(croissant, pot)"
+      ],
+      "place(croissant, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_14_49_bridge#episode_4037.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4596",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon,  right_of_the_broccoli)",
+      "place(spoon, right_of_the_broccoli)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon,  right_of_the_broccoli)"
+      ],
+      "move_to(spoon,  right_of_the_broccoli)": [
+        "place(spoon, right_of_the_broccoli)"
+      ],
+      "place(spoon, right_of_the_broccoli)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_14_49_bridge#episode_4596.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4992",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pull(cloth, middle_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pull(cloth, middle_of_the_table)"
+      ],
+      "pull(cloth, middle_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_14_49_bridge#episode_4992.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5438",
+    "actions_list": [
+      "move_to(none, plush_toy)",
+      "grasp(plush_toy)",
+      "pick_up(plush_toy)",
+      "move_to(plush_toy, under_of_knife)",
+      "place(plush_toy, under_of_knife)"
+    ],
+    "gt_dag": {
+      "move_to(none, plush_toy)": [
+        "grasp(plush_toy)"
+      ],
+      "grasp(plush_toy)": [
+        "pick_up(plush_toy)"
+      ],
+      "pick_up(plush_toy)": [
+        "move_to(plush_toy, under_of_knife)"
+      ],
+      "move_to(plush_toy, under_of_knife)": [
+        "place(plush_toy, under_of_knife)"
+      ],
+      "place(plush_toy, under_of_knife)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_15_49_bridge#episode_5438.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5503",
+    "actions_list": [
+      "move_to(none, spatula)",
+      "grasp(spatula)",
+      "pick_up(spatula)",
+      "move_to(spatula, right_of _corn)",
+      "place(spatula, right_of _corn)"
+    ],
+    "gt_dag": {
+      "move_to(none, spatula)": [
+        "grasp(spatula)"
+      ],
+      "grasp(spatula)": [
+        "pick_up(spatula)"
+      ],
+      "pick_up(spatula)": [
+        "move_to(spatula, right_of _corn)"
+      ],
+      "move_to(spatula, right_of _corn)": [
+        "place(spatula, right_of _corn)"
+      ],
+      "place(spatula, right_of _corn)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_15_49_bridge#episode_5503.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_6401",
+    "actions_list": [
+      "move_to(none, sushi_roll)",
+      "grasp(sushi_roll)",
+      "pick_up(sushi_roll)",
+      "move_to(sushi_roll, pot)",
+      "place(sushi_roll, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, sushi_roll)": [
+        "grasp(sushi_roll)"
+      ],
+      "grasp(sushi_roll)": [
+        "pick_up(sushi_roll)"
+      ],
+      "pick_up(sushi_roll)": [
+        "move_to(sushi_roll, pot)"
+      ],
+      "move_to(sushi_roll, pot)": [
+        "place(sushi_roll, pot)"
+      ],
+      "place(sushi_roll, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_15_49_bridge#episode_6401.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_6930",
+    "actions_list": [
+      "move_to(none , towel)",
+      "grasp(towel)",
+      "pull(towel, bottom_right_corner_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none , towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pull(towel, bottom_right_corner_of_the_table)"
+      ],
+      "pull(towel, bottom_right_corner_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_16_49_bridge#episode_6930.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7051",
+    "actions_list": [
+      "move_to(none, broccoli)",
+      "grasp(broccoli)",
+      "pick_up(broccoli)",
+      "move_to(vegetable, cloth)",
+      "place(vegetable, cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, broccoli)": [
+        "grasp(broccoli)"
+      ],
+      "grasp(broccoli)": [
+        "pick_up(broccoli)"
+      ],
+      "pick_up(broccoli)": [
+        "move_to(vegetable, cloth)"
+      ],
+      "move_to(vegetable, cloth)": [
+        "place(vegetable, cloth)"
+      ],
+      "place(vegetable, cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_16_49_bridge#episode_7051.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7490",
+    "actions_list": [
+      "move_to(none, red_cone)",
+      "grasp(red_cone)",
+      "pick_up(red_cone)",
+      "move_to(red_cone, bottom_right_corner_of_the_table)",
+      "place(red_cone, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, red_cone)": [
+        "grasp(red_cone)"
+      ],
+      "grasp(red_cone)": [
+        "pick_up(red_cone)"
+      ],
+      "pick_up(red_cone)": [
+        "move_to(red_cone, bottom_right_corner_of_the_table)"
+      ],
+      "move_to(red_cone, bottom_right_corner_of_the_table)": [
+        "place(red_cone, table)"
+      ],
+      "place(red_cone, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_16_49_bridge#episode_7490.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_8131",
+    "actions_list": [
+      "move_to(none, chocolate)",
+      "grasp(chocolate)",
+      "pick_up(chocolate)",
+      "move_to(chocolate, plate)",
+      "place(chocolate, plate)",
+      "move_to(none, apple)",
+      "grasp(apple)",
+      "pick_up(apple)",
+      "move_to(apple, pot)",
+      "place(apple, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, chocolate)": [
+        "grasp(chocolate)"
+      ],
+      "grasp(chocolate)": [
+        "pick_up(chocolate)"
+      ],
+      "pick_up(chocolate)": [
+        "move_to(chocolate, plate)"
+      ],
+      "move_to(chocolate, plate)": [
+        "place(chocolate, plate)"
+      ],
+      "place(chocolate, plate)": [],
+      "move_to(none, apple)": [
+        "grasp(apple)"
+      ],
+      "grasp(apple)": [
+        "pick_up(apple)"
+      ],
+      "pick_up(apple)": [
+        "move_to(apple, pot)"
+      ],
+      "move_to(apple, pot)": [
+        "place(apple, pot)"
+      ],
+      "place(apple, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_17_49_bridge#episode_8131.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9457",
+    "actions_list": [
+      "move_to(none, knife)",
+      "grasp(knife)",
+      "pick_up(knife)",
+      "move_to(knife, left_of_the_croissant)",
+      "place(knife, left_of_the_croissant)"
+    ],
+    "gt_dag": {
+      "move_to(none, knife)": [
+        "grasp(knife)"
+      ],
+      "grasp(knife)": [
+        "pick_up(knife)"
+      ],
+      "pick_up(knife)": [
+        "move_to(knife, left_of_the_croissant)"
+      ],
+      "move_to(knife, left_of_the_croissant)": [
+        "place(knife, left_of_the_croissant)"
+      ],
+      "place(knife, left_of_the_croissant)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_18_49_bridge#episode_9457.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9554",
+    "actions_list": [
+      "move_to(none, brush)",
+      "grasp(brush)",
+      "pick_up(brush)",
+      "move_to(brush, pan)",
+      "place(brush, pan)"
+    ],
+    "gt_dag": {
+      "move_to(none, brush)": [
+        "grasp(brush)"
+      ],
+      "grasp(brush)": [
+        "pick_up(brush)"
+      ],
+      "pick_up(brush)": [
+        "move_to(brush, pan)"
+      ],
+      "move_to(brush, pan)": [
+        "place(brush, pan)"
+      ],
+      "place(brush, pan)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_18_49_bridge#episode_9554.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9868",
+    "actions_list": [
+      "move_to(none, can)",
+      "grasp(can)",
+      "pull(can, back_of_the_counter)",
+      "place(can, back_of_the_counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, can)": [
+        "grasp(can)"
+      ],
+      "grasp(can)": [
+        "pull(can, back_of_the_counter)"
+      ],
+      "pull(can, back_of_the_counter)": [
+        "place(can, back_of_the_counter)"
+      ],
+      "place(can, back_of_the_counter)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_18_49_bridge#episode_9868.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_10198",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "pull(cloth, next_to_cans)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pull(cloth, next_to_cans)"
+      ],
+      "pull(cloth, next_to_cans)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_10198.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11093",
+    "actions_list": [
+      "move_to(none, spatula)",
+      "grasp(spatula)",
+      "pick_up(spatula)",
+      "move_to(spatula, between_cloth_and_knife)",
+      "place(spatula, between_cloth_and_knife)"
+    ],
+    "gt_dag": {
+      "move_to(none, spatula)": [
+        "grasp(spatula)"
+      ],
+      "grasp(spatula)": [
+        "pick_up(spatula)"
+      ],
+      "pick_up(spatula)": [
+        "move_to(spatula, between_cloth_and_knife)"
+      ],
+      "move_to(spatula, between_cloth_and_knife)": [
+        "place(spatula, between_cloth_and_knife)"
+      ],
+      "place(spatula, between_cloth_and_knife)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11093.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11305",
+    "actions_list": [
+      "move_to(none, oven_door_handle)",
+      "grasp(oven_door_handle)",
+      "push(oven_door,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, oven_door_handle)": [
+        "grasp(oven_door_handle)"
+      ],
+      "grasp(oven_door_handle)": [
+        "push(oven_door,open)"
+      ],
+      "push(oven_door,open)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11305.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20248",
+    "actions_list": [
+      "move_to(none, knife)",
+      "grasp(knife)",
+      "pick_up(knife)",
+      "move_to(knife, lower_left_side_of_the_sink)",
+      "place(knife, lower_left_side_of_the_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, knife)": [
+        "grasp(knife)"
+      ],
+      "grasp(knife)": [
+        "pick_up(knife)"
+      ],
+      "pick_up(knife)": [
+        "move_to(knife, lower_left_side_of_the_sink)"
+      ],
+      "move_to(knife, lower_left_side_of_the_sink)": [
+        "place(knife, lower_left_side_of_the_sink)"
+      ],
+      "place(knife, lower_left_side_of_the_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20248.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_2185",
+    "actions_list": [
+      "move_to(none, green_cloth_in_the_washing_machine)",
+      "grasp(green_cloth_in_the_washing_machine)",
+      "pick_up(green_cloth)",
+      "move_to(green_cloth)",
+      "place(green_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, green_cloth_in_the_washing_machine)": [
+        "grasp(green_cloth_in_the_washing_machine)"
+      ],
+      "grasp(green_cloth_in_the_washing_machine)": [
+        "pick_up(green_cloth)"
+      ],
+      "pick_up(green_cloth)": [
+        "move_to(green_cloth)"
+      ],
+      "move_to(green_cloth)": [
+        "place(green_cloth)"
+      ],
+      "place(green_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_2185.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_25059",
+    "actions_list": [
+      "move_to(none, cabinet_door_handle)",
+      "grasp(cabinet_door_handle)",
+      "pull(cabinet_door)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door_handle)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "pull(cabinet_door)"
+      ],
+      "pull(cabinet_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_25059.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_27672",
+    "actions_list": [
+      "move_to(none, sushi)",
+      "grasp(sushi)",
+      "pick_up(sushi)",
+      "move_to(sushi,  top_right_corner_of_the_table)",
+      "place(sushi,  top_right_corner_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, sushi)": [
+        "grasp(sushi)"
+      ],
+      "grasp(sushi)": [
+        "pick_up(sushi)"
+      ],
+      "pick_up(sushi)": [
+        "move_to(sushi,  top_right_corner_of_the_table)"
+      ],
+      "move_to(sushi,  top_right_corner_of_the_table)": [
+        "place(sushi,  top_right_corner_of_the_table)"
+      ],
+      "place(sushi,  top_right_corner_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_27672.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_28515",
+    "actions_list": [
+      "move_to(none, broom)",
+      "grasp(broom)",
+      "wipe(broom, garbage, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, broom)": [
+        "grasp(broom)"
+      ],
+      "grasp(broom)": [
+        "wipe(broom, garbage, table)"
+      ],
+      "wipe(broom, garbage, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_28515.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29516",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, between_the_two_stoves)",
+      "place(spoon, between_the_two_stoves)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, between_the_two_stoves)"
+      ],
+      "move_to(spoon, between_the_two_stoves)": [
+        "place(spoon, between_the_two_stoves)"
+      ],
+      "place(spoon, between_the_two_stoves)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29516.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34446",
+    "actions_list": [
+      "move_to(none, broom)",
+      "grasp(broom)",
+      "wipe(broom, garbage, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, broom)": [
+        "grasp(broom)"
+      ],
+      "grasp(broom)": [
+        "wipe(broom, garbage, table)"
+      ],
+      "wipe(broom, garbage, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34446.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_389",
+    "actions_list": [
+      "move_to(none, top_left_corner_of_the_towel)",
+      "grasp(top_left_corner_of_the_towel)",
+      "fold(top_left_corner_of_the_cloth, bottom_left_corner_of_the_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, top_left_corner_of_the_towel)": [
+        "grasp(top_left_corner_of_the_towel)"
+      ],
+      "grasp(top_left_corner_of_the_towel)": [
+        "fold(top_left_corner_of_the_cloth, bottom_left_corner_of_the_cloth)"
+      ],
+      "fold(top_left_corner_of_the_cloth, bottom_left_corner_of_the_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_389.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3934",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, left_side_of_the_cloth)",
+      "place(bottle, left_side_of_the_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, left_side_of_the_cloth)"
+      ],
+      "move_to(bottle, left_side_of_the_cloth)": [
+        "place(bottle, left_side_of_the_cloth)"
+      ],
+      "place(bottle, left_side_of_the_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3934.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36527",
+    "actions_list": [
+      "move_to(none, microwave_door_handle)",
+      "grasp(microwave_door_handle)",
+      "pull(microwave_door, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_door_handle)": [
+        "grasp(microwave_door_handle)"
+      ],
+      "grasp(microwave_door_handle)": [
+        "pull(microwave_door, open)"
+      ],
+      "pull(microwave_door, open)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36527.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37899",
+    "actions_list": [
+      "move_to(none, left_cabinet_door)",
+      "grasp(left_cabinet_door)",
+      "push(left_cabinet_door, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_cabinet_door)": [
+        "grasp(left_cabinet_door)"
+      ],
+      "grasp(left_cabinet_door)": [
+        "push(left_cabinet_door, close)"
+      ],
+      "push(left_cabinet_door, close)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37899.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38528",
+    "actions_list": [
+      "move_to(none, drawer_handle)",
+      "grasp(drawer_handle)",
+      "push(drawer, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer_handle)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer, close)"
+      ],
+      "push(drawer, close)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38528.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38827",
+    "actions_list": [
+      "move_to(none, cabinet_door_handle)",
+      "grasp(cabinet_door_handle)",
+      "push(cabinet_door_handle, close)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door_handle)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "push(cabinet_door_handle, close)"
+      ],
+      "push(cabinet_door_handle, close)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38827.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_40347",
+    "actions_list": [
+      "move_to(none, lower_fridge_door_handle)",
+      "grasp(lower_fridge_door_handle)",
+      "pull(fridge_door, open)"
+    ],
+    "gt_dag": {
+      "move_to(none, lower_fridge_door_handle)": [
+        "grasp(lower_fridge_door_handle)"
+      ],
+      "grasp(lower_fridge_door_handle)": [
+        "pull(fridge_door, open)"
+      ],
+      "pull(fridge_door, open)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_40347.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_41726",
+    "actions_list": [
+      "move_to(none, plastic_ice_cream)",
+      "grasp(plastic_ice_cream)",
+      "pick_up(plastic_ice_cream)",
+      "move_to(plastic_ice_cream, bottom_edge_of_the_cloth)",
+      "place(plastic_ice_cream, bottom_edge_of_the_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, plastic_ice_cream)": [
+        "grasp(plastic_ice_cream)"
+      ],
+      "grasp(plastic_ice_cream)": [
+        "pick_up(plastic_ice_cream)"
+      ],
+      "pick_up(plastic_ice_cream)": [
+        "move_to(plastic_ice_cream, bottom_edge_of_the_cloth)"
+      ],
+      "move_to(plastic_ice_cream, bottom_edge_of_the_cloth)": [
+        "place(plastic_ice_cream, bottom_edge_of_the_cloth)"
+      ],
+      "place(plastic_ice_cream, bottom_edge_of_the_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_41726.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43406",
+    "actions_list": [
+      "move_to(none, bottom_right_corner_of_the_cloth)",
+      "grasp(bottom_right_corner)",
+      "fold(bottom_right_corner, top_left_of_the_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottom_right_corner_of_the_cloth)": [
+        "grasp(bottom_right_corner)"
+      ],
+      "grasp(bottom_right_corner)": [
+        "fold(bottom_right_corner, top_left_of_the_cloth)"
+      ],
+      "fold(bottom_right_corner, top_left_of_the_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43406.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43696",
+    "actions_list": [
+      "move_to(none, cauliflower)",
+      "grasp(cauliflower)",
+      "pick_up(cauliflower)",
+      "move_to(cauliflower, plate)",
+      "place(cauliflower, plate)",
+      "move_to(none, pickle)",
+      "grasp(pickle)",
+      "pick_up(pickle)",
+      "move_to(pickle, pot)",
+      "place(pickle, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, cauliflower)": [
+        "grasp(cauliflower)"
+      ],
+      "grasp(cauliflower)": [
+        "pick_up(cauliflower)"
+      ],
+      "pick_up(cauliflower)": [
+        "move_to(cauliflower, plate)"
+      ],
+      "move_to(cauliflower, plate)": [
+        "place(cauliflower, plate)"
+      ],
+      "place(cauliflower, plate)": [],
+      "move_to(none, pickle)": [
+        "grasp(pickle)"
+      ],
+      "grasp(pickle)": [
+        "pick_up(pickle)"
+      ],
+      "pick_up(pickle)": [
+        "move_to(pickle, pot)"
+      ],
+      "move_to(pickle, pot)": [
+        "place(pickle, pot)"
+      ],
+      "place(pickle, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43696.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_4921",
+    "actions_list": [
+      "move_to(none, carrot)",
+      "grasp(carrot)",
+      "pick_up(carrot)",
+      "move_to(carrot, top_left_corner_of_the_table)",
+      "place(carrot, top_left_corner_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, carrot)": [
+        "grasp(carrot)"
+      ],
+      "grasp(carrot)": [
+        "pick_up(carrot)"
+      ],
+      "pick_up(carrot)": [
+        "move_to(carrot, top_left_corner_of_the_table)"
+      ],
+      "move_to(carrot, top_left_corner_of_the_table)": [
+        "place(carrot, top_left_corner_of_the_table)"
+      ],
+      "place(carrot, top_left_corner_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_4921.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45771",
+    "actions_list": [
+      "move_to(none, broom)",
+      "grasp(broom)",
+      "wipe(broom, garbage, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, broom)": [
+        "grasp(broom)"
+      ],
+      "grasp(broom)": [
+        "wipe(broom, garbage, table)"
+      ],
+      "wipe(broom, garbage, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45771.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45805",
+    "actions_list": [
+      "move_to(none, metal_pot)",
+      "grasp(metal_pot)",
+      "pick_up(metal_pot)",
+      "turn(metal_pot, clockwise, parallel_to_the_desktop)",
+      "place(metal_pot, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, metal_pot)": [
+        "grasp(metal_pot)"
+      ],
+      "grasp(metal_pot)": [
+        "pick_up(metal_pot)"
+      ],
+      "pick_up(metal_pot)": [
+        "turn(metal_pot, clockwise, parallel_to_the_desktop)"
+      ],
+      "turn(metal_pot, clockwise, parallel_to_the_desktop)": [
+        "place(metal_pot, table)"
+      ],
+      "place(metal_pot, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45805.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_46984",
+    "actions_list": [
+      "move_to(none, microwave_door)",
+      "grasp(microwave_door)",
+      "push(microwave_door)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_door)": [
+        "grasp(microwave_door)"
+      ],
+      "grasp(microwave_door)": [
+        "push(microwave_door)"
+      ],
+      "push(microwave_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_46984.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_47728",
+    "actions_list": [
+      "move_to(none, microwave_door)",
+      "grasp(microwave_door_handle)",
+      "push(microwave_door)"
+    ],
+    "gt_dag": {
+      "move_to(none, microwave_door)": [
+        "grasp(microwave_door_handle)"
+      ],
+      "grasp(microwave_door_handle)": [
+        "push(microwave_door)"
+      ],
+      "push(microwave_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_47728.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48213",
+    "actions_list": [
+      "move_to(none, onion)",
+      "grasp(onion)",
+      "pick_up(onion)",
+      "move_to(onion, pot)",
+      "place(onion, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, onion)": [
+        "grasp(onion)"
+      ],
+      "grasp(onion)": [
+        "pick_up(onion)"
+      ],
+      "pick_up(onion)": [
+        "move_to(onion, pot)"
+      ],
+      "move_to(onion, pot)": [
+        "place(onion, pot)"
+      ],
+      "place(onion, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48213.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_5702",
+    "actions_list": [
+      "move_to(none, knife)",
+      "grasp(knife)",
+      "pick_up(knife)",
+      "move_to(knife, pot)",
+      "place(knife, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, knife)": [
+        "grasp(knife)"
+      ],
+      "grasp(knife)": [
+        "pick_up(knife)"
+      ],
+      "pick_up(knife)": [
+        "move_to(knife, pot)"
+      ],
+      "move_to(knife, pot)": [
+        "place(knife, pot)"
+      ],
+      "place(knife, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_5702.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52666",
+    "actions_list": [
+      "move_to(none, sushi)",
+      "grasp(sushi)",
+      "pick_up(sushi)",
+      "move_to(sushi, left_side_of_the_cloth)",
+      "place(sushi, left_side_of_the_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, sushi)": [
+        "grasp(sushi)"
+      ],
+      "grasp(sushi)": [
+        "pick_up(sushi)"
+      ],
+      "pick_up(sushi)": [
+        "move_to(sushi, left_side_of_the_cloth)"
+      ],
+      "move_to(sushi, left_side_of_the_cloth)": [
+        "place(sushi, left_side_of_the_cloth)"
+      ],
+      "place(sushi, left_side_of_the_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52666.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52851",
+    "actions_list": [
+      "move_to(none, pan)",
+      "grasp(pan)",
+      "pick_up(pan)",
+      "move_to(pan, between_spoon_and_the_knife)",
+      "place(pan, between_spoon_and_the_knife)"
+    ],
+    "gt_dag": {
+      "move_to(none, pan)": [
+        "grasp(pan)"
+      ],
+      "grasp(pan)": [
+        "pick_up(pan)"
+      ],
+      "pick_up(pan)": [
+        "move_to(pan, between_spoon_and_the_knife)"
+      ],
+      "move_to(pan, between_spoon_and_the_knife)": [
+        "place(pan, between_spoon_and_the_knife)"
+      ],
+      "place(pan, between_spoon_and_the_knife)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52851.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8239",
+    "actions_list": [
+      "move_to(none, panda_toy)",
+      "grasp(panda_toy)",
+      "pick_up(panda_toy)",
+      "move_to(panda_toy, bottom_left_corner_of_the_table)",
+      "place(panda_toy, bottom_left_corner_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, panda_toy)": [
+        "grasp(panda_toy)"
+      ],
+      "grasp(panda_toy)": [
+        "pick_up(panda_toy)"
+      ],
+      "pick_up(panda_toy)": [
+        "move_to(panda_toy, bottom_left_corner_of_the_table)"
+      ],
+      "move_to(panda_toy, bottom_left_corner_of_the_table)": [
+        "place(panda_toy, bottom_left_corner_of_the_table)"
+      ],
+      "place(panda_toy, bottom_left_corner_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8239.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8631",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(top_left_corner_of_the_cloth)",
+      "fold(top_left_corner_of_the_cloth, bottom_right_corner_of_the_cloth)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(top_left_corner_of_the_cloth)"
+      ],
+      "grasp(top_left_corner_of_the_cloth)": [
+        "fold(top_left_corner_of_the_cloth, bottom_right_corner_of_the_cloth)"
+      ],
+      "fold(top_left_corner_of_the_cloth, bottom_right_corner_of_the_cloth)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8631.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_119",
+    "actions_list": [
+      "move_to(vegetable)",
+      "grasp(vegetable)",
+      "pick_up(vegetable)",
+      "move_to(vegetable, top_plate)",
+      "place(vegetable, top_plate)",
+      "move_to(white_bag)",
+      "grasp(white_bag)",
+      "pick_up(white_bag)",
+      "move_to(white_bag, bottom_plate)",
+      "place(white_bag, bottom_plate)"
+    ],
+    "gt_dag": {
+      "move_to(vegetable)": [
+        "grasp(vegetable)"
+      ],
+      "grasp(vegetable)": [
+        "pick_up(vegetable)"
+      ],
+      "pick_up(vegetable)": [
+        "move_to(vegetable, top_plate)"
+      ],
+      "move_to(vegetable, top_plate)": [
+        "place(vegetable, top_plate)"
+      ],
+      "place(vegetable, top_plate)": [],
+      "move_to(white_bag)": [
+        "grasp(white_bag)"
+      ],
+      "grasp(white_bag)": [
+        "pick_up(white_bag)"
+      ],
+      "pick_up(white_bag)": [
+        "move_to(white_bag, bottom_plate)"
+      ],
+      "move_to(white_bag, bottom_plate)": [
+        "place(white_bag, bottom_plate)"
+      ],
+      "place(white_bag, bottom_plate)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_119.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_135",
+    "actions_list": [
+      "move_to(none, watering_can)",
+      "grasp(watering_can)",
+      "pick_up(watering_can)",
+      "move_to(watering_can, plant)",
+      "pour(watering_can, water , plant)",
+      "move_to(watering_can, plate)",
+      "place(watering_can, plate)"
+    ],
+    "gt_dag": {
+      "move_to(none, watering_can)": [
+        "grasp(watering_can)"
+      ],
+      "grasp(watering_can)": [
+        "pick_up(watering_can)"
+      ],
+      "pick_up(watering_can)": [
+        "move_to(watering_can, plant)"
+      ],
+      "move_to(watering_can, plant)": [
+        "pour(watering_can, water , plant)"
+      ],
+      "pour(watering_can, water , plant)": [
+        "move_to(watering_can, plate)"
+      ],
+      "move_to(watering_can, plate)": [
+        "place(watering_can, plate)"
+      ],
+      "place(watering_can, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_135.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_712",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "turn(cup , clockwise, perpendicular_to_the_table)",
+      "place(cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "turn(cup , clockwise, perpendicular_to_the_table)"
+      ],
+      "turn(cup , clockwise, perpendicular_to_the_table)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_712.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_951",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer)",
+      "pull(drawer)",
+      "move_to(none,pineapple)",
+      "grasp(pineapple)",
+      "pick_up(pineapple)",
+      "move_to(pineapple, drawer)",
+      "place(pineapple, drawer)",
+      "move_to(none,banana)",
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana, drawer)",
+      "place(banana, drawer)",
+      "grasp(drawer)",
+      "push(drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer)"
+      ],
+      "pull(drawer)": [
+        "move_to(none,pineapple)"
+      ],
+      "move_to(none,pineapple)": [
+        "grasp(pineapple)"
+      ],
+      "grasp(pineapple)": [
+        "pick_up(pineapple)"
+      ],
+      "pick_up(pineapple)": [
+        "move_to(pineapple, drawer)"
+      ],
+      "move_to(pineapple, drawer)": [
+        "place(pineapple, drawer)"
+      ],
+      "place(pineapple, drawer)": [
+        "move_to(none,banana)"
+      ],
+      "move_to(none,banana)": [
+        "grasp(banana)"
+      ],
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana, drawer)"
+      ],
+      "move_to(banana, drawer)": [
+        "place(banana, drawer)"
+      ],
+      "place(banana, drawer)": [
+        "grasp(drawer)<1>"
+      ],
+      "grasp(drawer)": [
+        "pull(drawer)"
+      ],
+      "push(drawer)": [],
+      "grasp(drawer)<1>": [
+        "push(drawer)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_951.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_1935",
+    "actions_list": [
+      "move_to(none, bucket)",
+      "grasp(bucket)",
+      "push(bucket, right_side_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bucket)": [
+        "grasp(bucket)"
+      ],
+      "grasp(bucket)": [
+        "push(bucket, right_side_of_the_table)"
+      ],
+      "push(bucket, right_side_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_1935.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_2491",
+    "actions_list": [
+      "move_to(none, forks)",
+      "grasp(forks)",
+      "pick_up(forks)",
+      "move_to(forks, counter)",
+      "place(forks, counter)",
+      "move_to(none, bowl_on_the_upper_level)",
+      "grasp(bowl_on_the_upper_level)",
+      "pick_up(bowl_on_the_upper_level)",
+      "move_to(bowl_on_the_upper_level , table)",
+      "place(bowl_on_the_upper_level , table)"
+    ],
+    "gt_dag": {
+      "move_to(none, forks)": [
+        "grasp(forks)"
+      ],
+      "grasp(forks)": [
+        "pick_up(forks)"
+      ],
+      "pick_up(forks)": [
+        "move_to(forks, counter)"
+      ],
+      "move_to(forks, counter)": [
+        "place(forks, counter)"
+      ],
+      "place(forks, counter)": [
+        "move_to(none, bowl_on_the_upper_level)"
+      ],
+      "move_to(none, bowl_on_the_upper_level)": [
+        "grasp(bowl_on_the_upper_level)"
+      ],
+      "grasp(bowl_on_the_upper_level)": [
+        "pick_up(bowl_on_the_upper_level)"
+      ],
+      "pick_up(bowl_on_the_upper_level)": [
+        "move_to(bowl_on_the_upper_level , table)"
+      ],
+      "move_to(bowl_on_the_upper_level , table)": [
+        "place(bowl_on_the_upper_level , table)"
+      ],
+      "place(bowl_on_the_upper_level , table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_2491.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_3972",
+    "actions_list": [
+      "move_to(none, wooden_spoon)",
+      "grasp(wooden_spoon)",
+      "pick_up(wooden_spoon)",
+      "move_to(spoon, bowl)",
+      "stir(spoon, unknown , bowl)",
+      "move_to(spoon, table)",
+      "place(spoon, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, wooden_spoon)": [
+        "grasp(wooden_spoon)"
+      ],
+      "grasp(wooden_spoon)": [
+        "pick_up(wooden_spoon)"
+      ],
+      "pick_up(wooden_spoon)": [
+        "move_to(spoon, bowl)"
+      ],
+      "move_to(spoon, bowl)": [
+        "stir(spoon, unknown , bowl)"
+      ],
+      "stir(spoon, unknown , bowl)": [
+        "move_to(spoon, table)"
+      ],
+      "move_to(spoon, table)": [
+        "place(spoon, table)"
+      ],
+      "place(spoon, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_3972.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_3981",
+    "actions_list": [
+      "move_to(none,marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker, towel)",
+      "place(marker, towel)",
+      "move_to(none , towel)",
+      "grasp(right_side_of_towel)",
+      "fold(right_side_of_towel, left_side_of_towel)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, box)",
+      "place(towel, box)"
+    ],
+    "gt_dag": {
+      "move_to(none,marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "move_to(marker, towel)"
+      ],
+      "move_to(marker, towel)": [
+        "place(marker, towel)"
+      ],
+      "place(marker, towel)": [
+        "move_to(none , towel)"
+      ],
+      "move_to(none , towel)": [
+        "grasp(right_side_of_towel)"
+      ],
+      "grasp(right_side_of_towel)": [
+        "fold(right_side_of_towel, left_side_of_towel)"
+      ],
+      "fold(right_side_of_towel, left_side_of_towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, box)"
+      ],
+      "move_to(towel, box)": [
+        "place(towel, box)"
+      ],
+      "place(towel, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_3981.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4422",
+    "actions_list": [
+      "move_to(none, pink_clothes)",
+      "grasp(pink_clothes)",
+      "pick_up(pink_clothes)",
+      "move_to(pink_clothes, right_side_of_the_table)",
+      "place(pink_clothes, right_side_of_the_table)",
+      "grasp(white_rope)",
+      "pick_up(white_rope)",
+      "move_to(white_rope, left_side_of_the_table)",
+      "place(white_rope, left_side_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, pink_clothes)": [
+        "grasp(pink_clothes)"
+      ],
+      "grasp(pink_clothes)": [
+        "pick_up(pink_clothes)"
+      ],
+      "pick_up(pink_clothes)": [
+        "move_to(pink_clothes, right_side_of_the_table)"
+      ],
+      "move_to(pink_clothes, right_side_of_the_table)": [
+        "place(pink_clothes, right_side_of_the_table)"
+      ],
+      "place(pink_clothes, right_side_of_the_table)": [
+        "grasp(white_rope)"
+      ],
+      "grasp(white_rope)": [
+        "pick_up(white_rope)"
+      ],
+      "pick_up(white_rope)": [
+        "move_to(white_rope, left_side_of_the_table)"
+      ],
+      "move_to(white_rope, left_side_of_the_table)": [
+        "place(white_rope, left_side_of_the_table)"
+      ],
+      "place(white_rope, left_side_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_4422.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4480",
+    "actions_list": [
+      "move_to(none, faucet)",
+      "grasp(faucet)",
+      "push(faucet, center_of_the_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet)": [
+        "grasp(faucet)"
+      ],
+      "grasp(faucet)": [
+        "push(faucet, center_of_the_sink)"
+      ],
+      "push(faucet, center_of_the_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_4480.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4696",
+    "actions_list": [
+      "move_to(none, sponge)",
+      "grasp(sponge)",
+      "pick_up(sponge)",
+      "move_to(sponge, bowl)",
+      "wipe(sponge, unknown , bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, sponge)": [
+        "grasp(sponge)"
+      ],
+      "grasp(sponge)": [
+        "pick_up(sponge)"
+      ],
+      "pick_up(sponge)": [
+        "move_to(sponge, bowl)"
+      ],
+      "move_to(sponge, bowl)": [
+        "wipe(sponge, unknown , bowl)"
+      ],
+      "wipe(sponge, unknown , bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_4696.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_5208",
+    "actions_list": [
+      "move_to(none, measuring_tape)",
+      "grasp(measuring_tape)",
+      "pick_up(measuring_tape)",
+      "move_to(measuring_tape, left_side_of_the_table)",
+      "place(measuring_tape, left_side_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, measuring_tape)": [
+        "grasp(measuring_tape)"
+      ],
+      "grasp(measuring_tape)": [
+        "pick_up(measuring_tape)"
+      ],
+      "pick_up(measuring_tape)": [
+        "move_to(measuring_tape, left_side_of_the_table)"
+      ],
+      "move_to(measuring_tape, left_side_of_the_table)": [
+        "place(measuring_tape, left_side_of_the_table)"
+      ],
+      "place(measuring_tape, left_side_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_5208.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6034",
+    "actions_list": [
+      "move_to(none, rightest_cabinet_door)",
+      "grasp(rightest_cabinet_door_handle)",
+      "push(rightest_cabinet_door)"
+    ],
+    "gt_dag": {
+      "move_to(none, rightest_cabinet_door)": [
+        "grasp(rightest_cabinet_door_handle)"
+      ],
+      "grasp(rightest_cabinet_door_handle)": [
+        "push(rightest_cabinet_door)"
+      ],
+      "push(rightest_cabinet_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_6034.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6458",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "pour(cup, unknown , bowl)",
+      "move_to(cup, table)",
+      "place(cup, table)",
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "stir(spoon, unknown , bowl)",
+      "move_to(spoon , table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "pour(cup, unknown , bowl)"
+      ],
+      "pour(cup, unknown , bowl)": [
+        "move_to(cup, table)"
+      ],
+      "move_to(cup, table)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": [
+        "move_to(none, spoon)"
+      ],
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "stir(spoon, unknown , bowl)"
+      ],
+      "stir(spoon, unknown , bowl)": [
+        "move_to(spoon , table)"
+      ],
+      "move_to(spoon , table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_6458.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6886",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, right_side_of_the_table)",
+      "place(bottle, right_side_of_the_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, right_side_of_the_table)"
+      ],
+      "move_to(bottle, right_side_of_the_table)": [
+        "place(bottle, right_side_of_the_table)"
+      ],
+      "place(bottle, right_side_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_6886.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_7807",
+    "actions_list": [
+      "move_to(none, bread_in_the_dish)",
+      "grasp(bread_in_the_dish)",
+      "pick_up(bread_in_the_dish)",
+      "move_to(bread_in_the_dish, table)",
+      "place(bread_in_the_dish, table)",
+      "move_to(none, dish)",
+      "grasp(dish)",
+      "pick_up(dish)",
+      "move_to(dish, cloth)",
+      "place(dish, cloth)",
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, top_of_table)",
+      "place(spoon, top_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bread_in_the_dish)": [
+        "grasp(bread_in_the_dish)"
+      ],
+      "grasp(bread_in_the_dish)": [
+        "pick_up(bread_in_the_dish)"
+      ],
+      "pick_up(bread_in_the_dish)": [
+        "move_to(bread_in_the_dish, table)"
+      ],
+      "move_to(bread_in_the_dish, table)": [
+        "place(bread_in_the_dish, table)"
+      ],
+      "place(bread_in_the_dish, table)": [
+        "move_to(none, dish)"
+      ],
+      "move_to(none, dish)": [
+        "grasp(dish)"
+      ],
+      "grasp(dish)": [
+        "pick_up(dish)"
+      ],
+      "pick_up(dish)": [
+        "move_to(dish, cloth)"
+      ],
+      "move_to(dish, cloth)": [
+        "place(dish, cloth)"
+      ],
+      "place(dish, cloth)": [
+        "move_to(none, spoon)"
+      ],
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, top_of_table)"
+      ],
+      "move_to(spoon, top_of_table)": [
+        "place(spoon, top_of_table)"
+      ],
+      "place(spoon, top_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_7807.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_8752",
+    "actions_list": [
+      "move_to(none, cucumber)",
+      "grasp(cucumber)",
+      "pick_up(cucumber)",
+      "move_to(cucumber, bowl)",
+      "place(cucumber, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, cucumber)": [
+        "grasp(cucumber)"
+      ],
+      "grasp(cucumber)": [
+        "pick_up(cucumber)"
+      ],
+      "pick_up(cucumber)": [
+        "move_to(cucumber, bowl)"
+      ],
+      "move_to(cucumber, bowl)": [
+        "place(cucumber, bowl)"
+      ],
+      "place(cucumber, bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_8752.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_8939",
+    "actions_list": [
+      "move_to(none, paper)",
+      "grasp(paper)",
+      "pick_up(paper)",
+      "move_to(paper, box)",
+      "place(paper, box)",
+      "move_to(none, bag)",
+      "grasp(bag)",
+      "pick_up(bag)",
+      "move_to(bag, box)",
+      "place(bag, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, paper)": [
+        "grasp(paper)"
+      ],
+      "grasp(paper)": [
+        "pick_up(paper)"
+      ],
+      "pick_up(paper)": [
+        "move_to(paper, box)"
+      ],
+      "move_to(paper, box)": [
+        "place(paper, box)"
+      ],
+      "place(paper, box)": [
+        "move_to(none, bag)"
+      ],
+      "move_to(none, bag)": [
+        "grasp(bag)"
+      ],
+      "grasp(bag)": [
+        "pick_up(bag)"
+      ],
+      "pick_up(bag)": [
+        "move_to(bag, box)"
+      ],
+      "move_to(bag, box)": [
+        "place(bag, box)"
+      ],
+      "place(bag, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_8939.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9148",
+    "actions_list": [
+      "move_to(none, zip_ties_in_the_box)",
+      "pick_up(zip_ties)",
+      "move_to(zip_ties, counter)",
+      "place(zip_ties, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, zip_ties_in_the_box)": [
+        "pick_up(zip_ties)"
+      ],
+      "pick_up(zip_ties)": [
+        "move_to(zip_ties, counter)"
+      ],
+      "move_to(zip_ties, counter)": [
+        "place(zip_ties, counter)"
+      ],
+      "place(zip_ties, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_9148.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9361",
+    "actions_list": [
+      "move_to(none, bottle)",
+      "grasp(bottle)",
+      "pick_up(bottle)",
+      "move_to(bottle, drawer)",
+      "place(bottle, drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, bottle)": [
+        "grasp(bottle)"
+      ],
+      "grasp(bottle)": [
+        "pick_up(bottle)"
+      ],
+      "pick_up(bottle)": [
+        "move_to(bottle, drawer)"
+      ],
+      "move_to(bottle, drawer)": [
+        "place(bottle, drawer)"
+      ],
+      "place(bottle, drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_9361.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10496",
+    "actions_list": [
+      "move_to(none, orange_cup)",
+      "grasp(orange_cup)",
+      "pick_up(orange_cup)",
+      "pour(orange_cup, unknown , black_cup)",
+      "move_to(orange_cup, black_cup)",
+      "place(orange_cup, black_cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, orange_cup)": [
+        "grasp(orange_cup)"
+      ],
+      "grasp(orange_cup)": [
+        "pick_up(orange_cup)"
+      ],
+      "pick_up(orange_cup)": [
+        "pour(orange_cup, unknown , black_cup)"
+      ],
+      "pour(orange_cup, unknown , black_cup)": [
+        "move_to(orange_cup, black_cup)"
+      ],
+      "move_to(orange_cup, black_cup)": [
+        "place(orange_cup, black_cup)"
+      ],
+      "place(orange_cup, black_cup)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_10496.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10503",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, table)",
+      "place(towel, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, table)"
+      ],
+      "move_to(towel, table)": [
+        "place(towel, table)"
+      ],
+      "place(towel, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_10503.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_11553",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "place(cup, none)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "place(cup, none)"
+      ],
+      "place(cup, none)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_11553.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12373",
+    "actions_list": [
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "move_to(bowl, paper)",
+      "place(bowl, paper)",
+      "move_to(none, laptop)",
+      "grasp(laptop_upper)",
+      "turn(laptop, clockwise, perpendicular_to_the_lower_layer_of_the_notebook)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl, paper)"
+      ],
+      "move_to(bowl, paper)": [
+        "place(bowl, paper)"
+      ],
+      "place(bowl, paper)": [],
+      "move_to(none, laptop)": [
+        "grasp(laptop_upper)"
+      ],
+      "grasp(laptop_upper)": [
+        "turn(laptop, clockwise, perpendicular_to_the_lower_layer_of_the_notebook)"
+      ],
+      "turn(laptop, clockwise, perpendicular_to_the_lower_layer_of_the_notebook)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_12373.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12639",
+    "actions_list": [
+      "move_to(none, white_cloth)",
+      "grasp(white_cloth)",
+      "wipe(white_cloth, unknown , table)",
+      "move_to(none, gray_cloth)",
+      "grasp(gray_cloth)",
+      "unfold(right_side_of_towel, left_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, white_cloth)": [
+        "grasp(white_cloth)"
+      ],
+      "grasp(white_cloth)": [
+        "wipe(white_cloth, unknown , table)"
+      ],
+      "wipe(white_cloth, unknown , table)": [
+        "move_to(none, gray_cloth)"
+      ],
+      "move_to(none, gray_cloth)": [
+        "grasp(gray_cloth)"
+      ],
+      "grasp(gray_cloth)": [
+        "unfold(right_side_of_towel, left_side_of_towel)"
+      ],
+      "unfold(right_side_of_towel, left_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_12639.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_13391",
+    "actions_list": [
+      "move_to(none, shoe_rack)",
+      "grasp(shoe_rack)",
+      "pick_up(shoe_rack)",
+      "move_to(shoe_rack, left_side_of_table)",
+      "place(shoe_rack , left_side_of_table )"
+    ],
+    "gt_dag": {
+      "move_to(none, shoe_rack)": [
+        "grasp(shoe_rack)"
+      ],
+      "grasp(shoe_rack)": [
+        "pick_up(shoe_rack)"
+      ],
+      "pick_up(shoe_rack)": [
+        "move_to(shoe_rack, left_side_of_table)"
+      ],
+      "move_to(shoe_rack, left_side_of_table)": [
+        "place(shoe_rack , left_side_of_table )"
+      ],
+      "place(shoe_rack , left_side_of_table )": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_13391.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_13675",
+    "actions_list": [
+      "move_to(none, napkin)",
+      "grasp(napkin)",
+      "fold(right_side_of_napkin, left_side_of_napkin)",
+      "grasp(folded_napkin)",
+      "pick_up(folded_napkin)",
+      "move_to(folded_napkin,  trash_can)",
+      "place(folded_napkin,  trash_can)"
+    ],
+    "gt_dag": {
+      "move_to(none, napkin)": [
+        "grasp(napkin)"
+      ],
+      "grasp(napkin)": [
+        "fold(right_side_of_napkin, left_side_of_napkin)"
+      ],
+      "fold(right_side_of_napkin, left_side_of_napkin)": [
+        "grasp(folded_napkin)"
+      ],
+      "grasp(folded_napkin)": [
+        "pick_up(folded_napkin)"
+      ],
+      "pick_up(folded_napkin)": [
+        "move_to(folded_napkin,  trash_can)"
+      ],
+      "move_to(folded_napkin,  trash_can)": [
+        "place(folded_napkin,  trash_can)"
+      ],
+      "place(folded_napkin,  trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_13675.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14730",
+    "actions_list": [
+      "move_to(none,towel)",
+      "grasp(towel)",
+      "fold(bottom_side_of_towel, top_side_of_towel)",
+      "fold(left_side_of_towel, right_side_of_towel)",
+      "grasp(folded_towel)",
+      "pick_up(folded_towel)",
+      "place(folded_towel, box)"
+    ],
+    "gt_dag": {
+      "move_to(none,towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "fold(bottom_side_of_towel, top_side_of_towel)"
+      ],
+      "fold(bottom_side_of_towel, top_side_of_towel)": [
+        "fold(left_side_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_side_of_towel, right_side_of_towel)": [
+        "grasp(folded_towel)"
+      ],
+      "grasp(folded_towel)": [
+        "pick_up(folded_towel)"
+      ],
+      "pick_up(folded_towel)": [
+        "place(folded_towel, box)"
+      ],
+      "place(folded_towel, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_14730.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14894",
+    "actions_list": [
+      "move_to(none, brush)",
+      "grasp(brush)",
+      "pick_up(brush)",
+      "move_to(brush, countertop)",
+      "place(brush, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, brush)": [
+        "grasp(brush)"
+      ],
+      "grasp(brush)": [
+        "pick_up(brush)"
+      ],
+      "pick_up(brush)": [
+        "move_to(brush, countertop)"
+      ],
+      "move_to(brush, countertop)": [
+        "place(brush, countertop)"
+      ],
+      "place(brush, countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_14894.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_15150",
+    "actions_list": [
+      "move_to(none, faucet)",
+      "grasp(faucet_handle)",
+      "turn(faucet, anticlockwise, right_of_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet)": [
+        "grasp(faucet_handle)"
+      ],
+      "grasp(faucet_handle)": [
+        "turn(faucet, anticlockwise, right_of_sink)"
+      ],
+      "turn(faucet, anticlockwise, right_of_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_15150.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_16514",
+    "actions_list": [
+      "move_to(none, sponge)",
+      "grasp(sponge)",
+      "pick_up(sponge)",
+      "move_to(sponge, drawer)",
+      "place(sponge, drawer)",
+      "grasp(drawer)",
+      "push(drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, sponge)": [
+        "grasp(sponge)"
+      ],
+      "grasp(sponge)": [
+        "pick_up(sponge)"
+      ],
+      "pick_up(sponge)": [
+        "move_to(sponge, drawer)"
+      ],
+      "move_to(sponge, drawer)": [
+        "place(sponge, drawer)"
+      ],
+      "place(sponge, drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer)"
+      ],
+      "push(drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_16514.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_16648",
+    "actions_list": [
+      "move_to(none, cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, front_of_the_sink)",
+      "place(cup, front_of_the_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, front_of_the_sink)"
+      ],
+      "move_to(cup, front_of_the_sink)": [
+        "place(cup, front_of_the_sink)"
+      ],
+      "place(cup, front_of_the_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_16648.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_17549",
+    "actions_list": [
+      "move_to(none, marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker, cup)",
+      "place(marker, cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "move_to(marker, cup)"
+      ],
+      "move_to(marker, cup)": [
+        "place(marker, cup)"
+      ],
+      "place(marker, cup)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_17549.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_17964",
+    "actions_list": [
+      "move_to(none, clothing)",
+      "grasp(clothing)",
+      "pick_up(clothing)",
+      "move_to(clothing, chair_backrest)",
+      "place(clothing, chair_backrest)"
+    ],
+    "gt_dag": {
+      "move_to(none, clothing)": [
+        "grasp(clothing)"
+      ],
+      "grasp(clothing)": [
+        "pick_up(clothing)"
+      ],
+      "pick_up(clothing)": [
+        "move_to(clothing, chair_backrest)"
+      ],
+      "move_to(clothing, chair_backrest)": [
+        "place(clothing, chair_backrest)"
+      ],
+      "place(clothing, chair_backrest)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_17964.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_18085",
+    "actions_list": [
+      "pick_up(one_side_of_the_shirt)",
+      "move_to(none, grasped_side_of_the_shirt)",
+      "fold(grasped_side_of_the_shirt, other_side)",
+      "pick_up(another_side_of_the_shirt)",
+      "fold(grasped_side_of_the_shirt, none)"
+    ],
+    "gt_dag": {
+      "pick_up(one_side_of_the_shirt)": [
+        "move_to(none, grasped_side_of_the_shirt)"
+      ],
+      "move_to(none, grasped_side_of_the_shirt)": [
+        "fold(grasped_side_of_the_shirt, other_side)"
+      ],
+      "fold(grasped_side_of_the_shirt, other_side)": [
+        "pick_up(another_side_of_the_shirt)"
+      ],
+      "pick_up(another_side_of_the_shirt)": [
+        "fold(grasped_side_of_the_shirt, none)"
+      ],
+      "fold(grasped_side_of_the_shirt, none)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_18085.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19119",
+    "actions_list": [
+      "move_to(none, lid)",
+      "grasp(lid)",
+      "pick_up(lid)",
+      "move_to(lid, countertop)",
+      "place(lid, countertop)"
+    ],
+    "gt_dag": {
+      "move_to(none, lid)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "move_to(lid, countertop)"
+      ],
+      "move_to(lid, countertop)": [
+        "place(lid, countertop)"
+      ],
+      "place(lid, countertop)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_19119.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19253",
+    "actions_list": [
+      "move_to(none, left_cabinet_door_handle)",
+      "grasp(left_cabinet_door_handle)",
+      "pull(left_cabinet_door)",
+      "push(left_cabinet_door)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_cabinet_door_handle)": [
+        "grasp(left_cabinet_door_handle)"
+      ],
+      "grasp(left_cabinet_door_handle)": [
+        "pull(left_cabinet_door)"
+      ],
+      "pull(left_cabinet_door)": [
+        "push(left_cabinet_door)"
+      ],
+      "push(left_cabinet_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_19253.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19277",
+    "actions_list": [
+      "move_to(none, pen)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen, bowl)",
+      "place(pen, bowl)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen, table)",
+      "place(pen, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, pen)": [
+        "grasp(pen)"
+      ],
+      "move_to(pen, bowl)": [
+        "place(pen, bowl)"
+      ],
+      "place(pen, bowl)": [
+        "grasp(pen)<1>"
+      ],
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen, bowl)"
+      ],
+      "move_to(pen, table)": [
+        "place(pen, table)"
+      ],
+      "place(pen, table)": [],
+      "grasp(pen)<1>": [
+        "pick_up(pen)<1>"
+      ],
+      "pick_up(pen)<1>": [
+        "move_to(pen, table)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_19277.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19466",
+    "actions_list": [
+      "move_to(none, faucet_head)",
+      "grasp(faucet_head)",
+      "turn(faucet_head, anticlockwise , right_of_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, faucet_head)": [
+        "grasp(faucet_head)"
+      ],
+      "grasp(faucet_head)": [
+        "turn(faucet_head, anticlockwise , right_of_sink)"
+      ],
+      "turn(faucet_head, anticlockwise , right_of_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_19466.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_21528",
+    "actions_list": [
+      "move_to(none, screwdriver)",
+      "grasp(screwdriver)",
+      "pick_up(screwdriver)",
+      "move_to(screwdriver, drawer)",
+      "place(screwdriver, drawer)",
+      "grasp(drawer)",
+      "push(drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, screwdriver)": [
+        "grasp(screwdriver)"
+      ],
+      "grasp(screwdriver)": [
+        "pick_up(screwdriver)"
+      ],
+      "pick_up(screwdriver)": [
+        "move_to(screwdriver, drawer)"
+      ],
+      "move_to(screwdriver, drawer)": [
+        "place(screwdriver, drawer)"
+      ],
+      "place(screwdriver, drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer)"
+      ],
+      "push(drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_21528.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_22532",
+    "actions_list": [
+      "move_to(none, snack_pack)",
+      "grasp(snack_pack)",
+      "pick_up(snack_pack)",
+      "move_to(snack_pack, shelf)",
+      "place(snack_pack, shelf)"
+    ],
+    "gt_dag": {
+      "move_to(none, snack_pack)": [
+        "grasp(snack_pack)"
+      ],
+      "grasp(snack_pack)": [
+        "pick_up(snack_pack)"
+      ],
+      "pick_up(snack_pack)": [
+        "move_to(snack_pack, shelf)"
+      ],
+      "move_to(snack_pack, shelf)": [
+        "place(snack_pack, shelf)"
+      ],
+      "place(snack_pack, shelf)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_22532.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_23834",
+    "actions_list": [
+      "move_to(none, bread)",
+      "grasp(bread)",
+      "pick_up(bread)",
+      "move_to(bread, drawer)",
+      "place(bread_plushie, drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, bread)": [
+        "grasp(bread)"
+      ],
+      "grasp(bread)": [
+        "pick_up(bread)"
+      ],
+      "pick_up(bread)": [
+        "move_to(bread, drawer)"
+      ],
+      "move_to(bread, drawer)": [
+        "place(bread_plushie, drawer)"
+      ],
+      "place(bread_plushie, drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_23834.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24083",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "wipe(towel, unknown , cup)",
+      "move_to( towel ,pot)",
+      "place( towel ,pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "wipe(towel, unknown , cup)"
+      ],
+      "wipe(towel, unknown , cup)": [
+        "move_to( towel ,pot)"
+      ],
+      "move_to( towel ,pot)": [
+        "place( towel ,pot)"
+      ],
+      "place( towel ,pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_24083.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24531",
+    "actions_list": [
+      "move_to(none, scissors)",
+      "grasp(scissors)",
+      "pick_up(scissors)",
+      "move_to(scissors, bottom_of_cabinet)",
+      "place(scissors, bottom_of_cabinet)"
+    ],
+    "gt_dag": {
+      "move_to(none, scissors)": [
+        "grasp(scissors)"
+      ],
+      "grasp(scissors)": [
+        "pick_up(scissors)"
+      ],
+      "pick_up(scissors)": [
+        "move_to(scissors, bottom_of_cabinet)"
+      ],
+      "move_to(scissors, bottom_of_cabinet)": [
+        "place(scissors, bottom_of_cabinet)"
+      ],
+      "place(scissors, bottom_of_cabinet)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_24531.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24564",
+    "actions_list": [
+      "move_to(none, screwdriver)",
+      "grasp(screwdriver)",
+      "pick_up(screwdriver)",
+      "move_to(screwdriver, drawer)",
+      "place(screwdriver, drawer)",
+      "grasp(drawer)",
+      "push(drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, screwdriver)": [
+        "grasp(screwdriver)"
+      ],
+      "grasp(screwdriver)": [
+        "pick_up(screwdriver)"
+      ],
+      "pick_up(screwdriver)": [
+        "move_to(screwdriver, drawer)"
+      ],
+      "move_to(screwdriver, drawer)": [
+        "place(screwdriver, drawer)"
+      ],
+      "place(screwdriver, drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer)"
+      ],
+      "push(drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_24564.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25029",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, cup)",
+      "stir(spoon, unknown , cup)",
+      "move_to(spoon, table)",
+      "place(spoon, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, cup)"
+      ],
+      "move_to(spoon, cup)": [
+        "stir(spoon, unknown , cup)"
+      ],
+      "stir(spoon, unknown , cup)": [
+        "move_to(spoon, table)"
+      ],
+      "move_to(spoon, table)": [
+        "place(spoon, table)"
+      ],
+      "place(spoon, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_25029.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25200",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, bowl)",
+      "stir(spoon, unknown , bowl)",
+      "move_to(spoon, cup)",
+      "place(spoon, cup)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, bowl)"
+      ],
+      "move_to(spoon, bowl)": [
+        "stir(spoon, unknown , bowl)"
+      ],
+      "stir(spoon, unknown , bowl)": [
+        "move_to(spoon, cup)"
+      ],
+      "move_to(spoon, cup)": [
+        "place(spoon, cup)"
+      ],
+      "place(spoon, cup)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_25200.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_26264",
+    "actions_list": [
+      "move_to(none, granola_bar)",
+      "grasp(granola_bar)",
+      "pick_up(granola_bar)",
+      "move_to(granola_bar, cabinet)",
+      "place(granola_bar, cabinet)"
+    ],
+    "gt_dag": {
+      "move_to(none, granola_bar)": [
+        "grasp(granola_bar)"
+      ],
+      "grasp(granola_bar)": [
+        "pick_up(granola_bar)"
+      ],
+      "pick_up(granola_bar)": [
+        "move_to(granola_bar, cabinet)"
+      ],
+      "move_to(granola_bar, cabinet)": [
+        "place(granola_bar, cabinet)"
+      ],
+      "place(granola_bar, cabinet)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_26264.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27363",
+    "actions_list": [
+      "move_to(none, book)",
+      "grasp(book)",
+      "pick_up(book)",
+      "move_to(book , bag)",
+      "place(book , bag)"
+    ],
+    "gt_dag": {
+      "move_to(none, book)": [
+        "grasp(book)"
+      ],
+      "grasp(book)": [
+        "pick_up(book)"
+      ],
+      "pick_up(book)": [
+        "move_to(book , bag)"
+      ],
+      "move_to(book , bag)": [
+        "place(book , bag)"
+      ],
+      "place(book , bag)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_27363.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27418",
+    "actions_list": [
+      "move_to(none, pen)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen, table)",
+      "place(pen, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, pen)": [
+        "grasp(pen)"
+      ],
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen, table)"
+      ],
+      "move_to(pen, table)": [
+        "place(pen, table)"
+      ],
+      "place(pen, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_27418.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27567",
+    "actions_list": [
+      "move_to(none, sock)",
+      "grasp(sock)",
+      "pick_up(sock)",
+      "move_to(sock, sill)",
+      "place(sock, sill)"
+    ],
+    "gt_dag": {
+      "move_to(none, sock)": [
+        "grasp(sock)"
+      ],
+      "grasp(sock)": [
+        "pick_up(sock)"
+      ],
+      "pick_up(sock)": [
+        "move_to(sock, sill)"
+      ],
+      "move_to(sock, sill)": [
+        "place(sock, sill)"
+      ],
+      "place(sock, sill)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_27567.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27801",
+    "actions_list": [
+      "move_to(none,yellow_towel)",
+      "grasp(yellow_towel)",
+      "pick_up(yellow_towel)",
+      "move_to(yellow_towel, box)",
+      "place(yellow_towel, box)",
+      "grasp(white_towel)",
+      "pick_up(white_towel)",
+      "move_to(white_towel, box)",
+      "place(white_towel, box)"
+    ],
+    "gt_dag": {
+      "move_to(none,yellow_towel)": [
+        "grasp(yellow_towel)"
+      ],
+      "grasp(yellow_towel)": [
+        "pick_up(yellow_towel)"
+      ],
+      "pick_up(yellow_towel)": [
+        "move_to(yellow_towel, box)"
+      ],
+      "move_to(yellow_towel, box)": [
+        "place(yellow_towel, box)"
+      ],
+      "place(yellow_towel, box)": [],
+      "grasp(white_towel)": [
+        "pick_up(white_towel)"
+      ],
+      "pick_up(white_towel)": [
+        "move_to(white_towel, box)"
+      ],
+      "move_to(white_towel, box)": [
+        "place(white_towel, box)"
+      ],
+      "place(white_towel, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_27801.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28240",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "push(cloth, water,right_side_of_table)",
+      "place(cloth, right_side_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "push(cloth, water,right_side_of_table)"
+      ],
+      "push(cloth, water,right_side_of_table)": [
+        "place(cloth, right_side_of_table)"
+      ],
+      "place(cloth, right_side_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_28240.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28376",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, jar)",
+      "place(spoon, jar)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, jar)"
+      ],
+      "move_to(spoon, jar)": [
+        "place(spoon, jar)"
+      ],
+      "place(spoon, jar)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_28376.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28401",
+    "actions_list": [
+      "move_to(none,orange_sponge)",
+      "grasp(orange_sponge)",
+      "pick_up(orange_sponge)",
+      "move_to(sponge, cabinet)",
+      "place(sponge, cabinet)",
+      "move_to(none,mango)",
+      "grasp(mango)",
+      "pick_up(mango)",
+      "move_to(mango, cabinet)",
+      "place(mango, cabinet)",
+      "move_to (none, cabinet_door_handle)",
+      "grasp (cabinet_door_handle)",
+      "push(cabinet_door)"
+    ],
+    "gt_dag": {
+      "move_to(none,orange_sponge)": [
+        "grasp(orange_sponge)"
+      ],
+      "grasp(orange_sponge)": [
+        "pick_up(orange_sponge)"
+      ],
+      "pick_up(orange_sponge)": [
+        "move_to(sponge, cabinet)"
+      ],
+      "move_to(sponge, cabinet)": [
+        "place(sponge, cabinet)"
+      ],
+      "place(sponge, cabinet)": [
+        "move_to (none, cabinet_door_handle)"
+      ],
+      "move_to(none,mango)": [
+        "grasp(mango)"
+      ],
+      "grasp(mango)": [
+        "pick_up(mango)"
+      ],
+      "pick_up(mango)": [
+        "move_to(mango, cabinet)"
+      ],
+      "move_to(mango, cabinet)": [
+        "place(mango, cabinet)"
+      ],
+      "place(mango, cabinet)": [
+        "move_to (none, cabinet_door_handle)"
+      ],
+      "move_to (none, cabinet_door_handle)": [
+        "grasp (cabinet_door_handle)"
+      ],
+      "grasp (cabinet_door_handle)": [
+        "push(cabinet_door)"
+      ],
+      "push(cabinet_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_28401.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_31800",
+    "actions_list": [
+      "move_to(none, door)",
+      "grasp(door)",
+      "push(door)"
+    ],
+    "gt_dag": {
+      "move_to(none, door)": [
+        "grasp(door)"
+      ],
+      "grasp(door)": [
+        "push(door)"
+      ],
+      "push(door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_31800.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_32435",
+    "actions_list": [
+      "move_to(none,yellow_block)",
+      "grasp(yellow_block)",
+      "pick_up(yellow_block)",
+      "move_to(yellow_block_table)",
+      "place(yellow_block, table)",
+      "move_to(none,red_block)",
+      "grasp(red_block)",
+      "pick_up(red_block)",
+      "move_to(red_block,table)",
+      "place(red_block, table)",
+      "move_to(none,second_red_block)",
+      "grasp(second_red_block)",
+      "pick_up(second_red_block)",
+      "move_to(second_red_block,table)",
+      "place(second_red_block, table)",
+      "move_to(none,orange_block)",
+      "grasp(orange_block)",
+      "pick_up(orange_block)",
+      "move_to(orange_block,table)",
+      "place(orange_block, table)",
+      "move_to(none,green_block)",
+      "grasp(green_block)",
+      "pick_up(green_block)",
+      "move_to(green_block,table)",
+      "place(green_block, table)",
+      "move_to(none,second_green_block)",
+      "grasp(second_green_block)",
+      "pick_up(second_green_block)",
+      "move_to(second_green_block,table)",
+      "place(second_green_block, table)",
+      "move_to(none,yellow_block_and_orange_block)",
+      "grasp(yellow_block_and_orange_block)",
+      "pick_up(yellow_block_and_orange_block)",
+      "move_to(yellow_block_and_orange_block,table)",
+      "place(yellow_block_and_orange_block, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,yellow_block)": [
+        "grasp(yellow_block)"
+      ],
+      "grasp(yellow_block)": [
+        "pick_up(yellow_block)"
+      ],
+      "pick_up(yellow_block)": [
+        "move_to(yellow_block_table)"
+      ],
+      "move_to(yellow_block_table)": [
+        "place(yellow_block, table)"
+      ],
+      "place(yellow_block, table)": [],
+      "move_to(none,red_block)": [
+        "grasp(red_block)"
+      ],
+      "grasp(red_block)": [
+        "pick_up(red_block)"
+      ],
+      "pick_up(red_block)": [
+        "move_to(red_block,table)"
+      ],
+      "move_to(red_block,table)": [
+        "place(red_block, table)"
+      ],
+      "place(red_block, table)": [],
+      "move_to(none,second_red_block)": [
+        "grasp(second_red_block)"
+      ],
+      "grasp(second_red_block)": [
+        "pick_up(second_red_block)"
+      ],
+      "pick_up(second_red_block)": [
+        "move_to(second_red_block,table)"
+      ],
+      "move_to(second_red_block,table)": [
+        "place(second_red_block, table)"
+      ],
+      "place(second_red_block, table)": [],
+      "move_to(none,orange_block)": [
+        "grasp(orange_block)"
+      ],
+      "grasp(orange_block)": [
+        "pick_up(orange_block)"
+      ],
+      "pick_up(orange_block)": [
+        "move_to(orange_block,table)"
+      ],
+      "move_to(orange_block,table)": [
+        "place(orange_block, table)"
+      ],
+      "place(orange_block, table)": [],
+      "move_to(none,green_block)": [
+        "grasp(green_block)"
+      ],
+      "grasp(green_block)": [
+        "pick_up(green_block)"
+      ],
+      "pick_up(green_block)": [
+        "move_to(green_block,table)"
+      ],
+      "move_to(green_block,table)": [
+        "place(green_block, table)"
+      ],
+      "place(green_block, table)": [],
+      "move_to(none,second_green_block)": [
+        "grasp(second_green_block)"
+      ],
+      "grasp(second_green_block)": [
+        "pick_up(second_green_block)"
+      ],
+      "pick_up(second_green_block)": [
+        "move_to(second_green_block,table)"
+      ],
+      "move_to(second_green_block,table)": [
+        "place(second_green_block, table)"
+      ],
+      "place(second_green_block, table)": [],
+      "move_to(none,yellow_block_and_orange_block)": [
+        "grasp(yellow_block_and_orange_block)"
+      ],
+      "grasp(yellow_block_and_orange_block)": [
+        "pick_up(yellow_block_and_orange_block)"
+      ],
+      "pick_up(yellow_block_and_orange_block)": [
+        "move_to(yellow_block_and_orange_block,table)"
+      ],
+      "move_to(yellow_block_and_orange_block,table)": [
+        "place(yellow_block_and_orange_block, table)"
+      ],
+      "place(yellow_block_and_orange_block, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_32435.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35378",
+    "actions_list": [
+      "move_to(none, orange_and_light_yellow_clothes)",
+      "grasp(orange_and_light_yellow_clothes)",
+      "pick_up(orange_and_light_yellow_clothes)",
+      "move_to(orange_and_light_yellow_clothes, box)",
+      "place(orange_and_light_yellow_clothes, box)",
+      "move_to(none, pink_clothes)",
+      "grasp(pink_clothes)",
+      "pick_up(pink_clothes)",
+      "move_to(pink_clothes, box)",
+      "place(pink_clothes, box)",
+      "move_to(none, yellow_and_white_clothes)",
+      "grasp(yellow_and_white_clothes)",
+      "pick_up(yellow_and_white_clothes)",
+      "move_to(yellow_and_white_clothes, box)",
+      "place(yellow_and_white_clothes, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, orange_and_light_yellow_clothes)": [
+        "grasp(orange_and_light_yellow_clothes)"
+      ],
+      "grasp(orange_and_light_yellow_clothes)": [
+        "pick_up(orange_and_light_yellow_clothes)"
+      ],
+      "pick_up(orange_and_light_yellow_clothes)": [
+        "move_to(orange_and_light_yellow_clothes, box)"
+      ],
+      "move_to(orange_and_light_yellow_clothes, box)": [
+        "place(orange_and_light_yellow_clothes, box)"
+      ],
+      "place(orange_and_light_yellow_clothes, box)": [],
+      "move_to(none, pink_clothes)": [
+        "grasp(pink_clothes)"
+      ],
+      "grasp(pink_clothes)": [
+        "pick_up(pink_clothes)"
+      ],
+      "pick_up(pink_clothes)": [
+        "move_to(pink_clothes, box)"
+      ],
+      "move_to(pink_clothes, box)": [
+        "place(pink_clothes, box)"
+      ],
+      "place(pink_clothes, box)": [],
+      "move_to(none, yellow_and_white_clothes)": [
+        "grasp(yellow_and_white_clothes)"
+      ],
+      "grasp(yellow_and_white_clothes)": [
+        "pick_up(yellow_and_white_clothes)"
+      ],
+      "pick_up(yellow_and_white_clothes)": [
+        "move_to(yellow_and_white_clothes, box)"
+      ],
+      "move_to(yellow_and_white_clothes, box)": [
+        "place(yellow_and_white_clothes, box)"
+      ],
+      "place(yellow_and_white_clothes, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_35378.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35693",
+    "actions_list": [
+      "move_to(none, mug)",
+      "grasp(mug)",
+      "pick_up(mug)"
+    ],
+    "gt_dag": {
+      "move_to(none, mug)": [
+        "grasp(mug)"
+      ],
+      "grasp(mug)": [
+        "pick_up(mug)"
+      ],
+      "pick_up(mug)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_35693.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_36120",
+    "actions_list": [
+      "move_to(none, oven_mitt)",
+      "grasp(oven_mitt)",
+      "pick_up(oven_mitt)",
+      "move_to(oven_mitt,  far_right_hook)",
+      "place(oven_mitt, far_right_hook)"
+    ],
+    "gt_dag": {
+      "move_to(none, oven_mitt)": [
+        "grasp(oven_mitt)"
+      ],
+      "grasp(oven_mitt)": [
+        "pick_up(oven_mitt)"
+      ],
+      "pick_up(oven_mitt)": [
+        "move_to(oven_mitt,  far_right_hook)"
+      ],
+      "move_to(oven_mitt,  far_right_hook)": [
+        "place(oven_mitt, far_right_hook)"
+      ],
+      "place(oven_mitt, far_right_hook)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_36120.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_37640",
+    "actions_list": [
+      "move_to(none, napkin)",
+      "grasp(napkin)",
+      "pick_up(napkin)",
+      "move_to(napkin, bin)",
+      "place(napkin, bin)"
+    ],
+    "gt_dag": {
+      "move_to(none, napkin)": [
+        "grasp(napkin)"
+      ],
+      "grasp(napkin)": [
+        "pick_up(napkin)"
+      ],
+      "pick_up(napkin)": [
+        "move_to(napkin, bin)"
+      ],
+      "move_to(napkin, bin)": [
+        "place(napkin, bin)"
+      ],
+      "place(napkin, bin)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_37640.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_38669",
+    "actions_list": [
+      "move_to(none, marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker, board)",
+      "place(marker, board)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "move_to(marker, board)"
+      ],
+      "move_to(marker, board)": [
+        "place(marker, board)"
+      ],
+      "place(marker, board)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_38669.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39234",
+    "actions_list": [
+      "move_to(none, black_hat)",
+      "grasp(black_hat)",
+      "pick_up(black_hat)",
+      "move_to(black_hat , red_hat)",
+      "place(black_hat , red_hat)"
+    ],
+    "gt_dag": {
+      "move_to(none, black_hat)": [
+        "grasp(black_hat)"
+      ],
+      "grasp(black_hat)": [
+        "pick_up(black_hat)"
+      ],
+      "pick_up(black_hat)": [
+        "move_to(black_hat , red_hat)"
+      ],
+      "move_to(black_hat , red_hat)": [
+        "place(black_hat , red_hat)"
+      ],
+      "place(black_hat , red_hat)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_39234.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39265",
+    "actions_list": [
+      "move_to(none,orange_clothes)",
+      "grasp(orange_clothes)",
+      "pick_up(orange_clothes)",
+      "move_to(orange_clothes, box)",
+      "place(orange_clothes, box)",
+      "move_to(none,yellow_clothes)",
+      "grasp(yellow_clothes)",
+      "pick_up(yellow_clothes)",
+      "move_to(yellow_clothes, box)",
+      "place(yellow_clothes, box)",
+      "move_to(none,pink_clothes)",
+      "grasp(pink_clothes)",
+      "pick_up(pink_clothes)",
+      "move_to(pink_clothes, box)",
+      "place(pink_clothes, box)"
+    ],
+    "gt_dag": {
+      "move_to(none,orange_clothes)": [
+        "grasp(orange_clothes)"
+      ],
+      "grasp(orange_clothes)": [
+        "pick_up(orange_clothes)"
+      ],
+      "pick_up(orange_clothes)": [
+        "move_to(orange_clothes, box)"
+      ],
+      "move_to(orange_clothes, box)": [
+        "place(orange_clothes, box)"
+      ],
+      "place(orange_clothes, box)": [],
+      "move_to(none,yellow_clothes)": [
+        "grasp(yellow_clothes)"
+      ],
+      "grasp(yellow_clothes)": [
+        "pick_up(yellow_clothes)"
+      ],
+      "pick_up(yellow_clothes)": [
+        "move_to(yellow_clothes, box)"
+      ],
+      "move_to(yellow_clothes, box)": [
+        "place(yellow_clothes, box)"
+      ],
+      "place(yellow_clothes, box)": [],
+      "move_to(none,pink_clothes)": [
+        "grasp(pink_clothes)"
+      ],
+      "grasp(pink_clothes)": [
+        "pick_up(pink_clothes)"
+      ],
+      "pick_up(pink_clothes)": [
+        "move_to(pink_clothes, box)"
+      ],
+      "move_to(pink_clothes, box)": [
+        "place(pink_clothes, box)"
+      ],
+      "place(pink_clothes, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_39265.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39825",
+    "actions_list": [
+      "move_to(none, tap)",
+      "grasp(tap)",
+      "turn(tap , clockwise, middle_of_sink)",
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "push(drawer,close)"
+    ],
+    "gt_dag": {
+      "move_to(none, tap)": [
+        "grasp(tap)"
+      ],
+      "grasp(tap)": [
+        "turn(tap , clockwise, middle_of_sink)"
+      ],
+      "turn(tap , clockwise, middle_of_sink)": [],
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "push(drawer,close)"
+      ],
+      "push(drawer,close)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_39825.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_40530",
+    "actions_list": [
+      "move_to(none,sachet)",
+      "grasp(sachet)",
+      "pick_up(sachet)",
+      "move_to(sachet, table)",
+      "place(sachet, table)",
+      "move_to(none,green_bottle)",
+      "grasp(green_bottle)",
+      "pick_up(green_bottle)",
+      "move_to(green_bottle, plate)",
+      "place(green_bottle, plate)",
+      "move_to(none,brown_bottle)",
+      "grasp(brown_bottle)",
+      "pick_up(brown_bottle)",
+      "move_to(brown_bottle, plate)",
+      "place(brown_bottle, plate)",
+      "move_to(mone,yellow_bottle)",
+      "grasp(yellow_bottle)",
+      "pick_up(yellow_bottle)",
+      "move_to(yellow_bottle, plate)",
+      "place(yellow_bottle, plate)",
+      "move_to(none,blue_bottle)",
+      "grasp(blue_bottle)",
+      "pick_up(blue_bottle)",
+      "move_to(blue_bottle, plate)",
+      "place(blue_bottle, plate)",
+      "move_to(none,big_white_bottle)",
+      "grasp(big_white_bottle)",
+      "pick_up(big_white_bottle)",
+      "move_to(big_white_bottle, plate)",
+      "place(big_white_bottle, plate)",
+      "move_to(none,little_white_bottle)",
+      "grasp(little_white_bottle)",
+      "pick_up(little_white_bottle)",
+      "move_to(little_white_bottle, plate)",
+      "place(little_white_bottle, plate)",
+      "move_to(none,strawberry)",
+      "grasp(strawberry)",
+      "pick_up(strawberry)",
+      "move_to(strawberry, plate)",
+      "place(strawberry, plate)"
+    ],
+    "gt_dag": {
+      "move_to(none,sachet)": [
+        "grasp(sachet)"
+      ],
+      "grasp(sachet)": [
+        "pick_up(sachet)"
+      ],
+      "pick_up(sachet)": [
+        "move_to(sachet, table)"
+      ],
+      "move_to(sachet, table)": [
+        "place(sachet, table)"
+      ],
+      "place(sachet, table)": [
+        "move_to(none,green_bottle)",
+        "move_to(none,brown_bottle)",
+        "move_to(mone,yellow_bottle)",
+        "move_to(none,blue_bottle)",
+        "move_to(none,big_white_bottle)",
+        "move_to(none,little_white_bottle)",
+        "move_to(none,strawberry)"
+      ],
+      "move_to(none,green_bottle)": [
+        "grasp(green_bottle)"
+      ],
+      "grasp(green_bottle)": [
+        "pick_up(green_bottle)"
+      ],
+      "pick_up(green_bottle)": [
+        "move_to(green_bottle, plate)"
+      ],
+      "move_to(green_bottle, plate)": [
+        "place(green_bottle, plate)"
+      ],
+      "place(green_bottle, plate)": [],
+      "move_to(none,brown_bottle)": [
+        "grasp(brown_bottle)"
+      ],
+      "grasp(brown_bottle)": [
+        "pick_up(brown_bottle)"
+      ],
+      "pick_up(brown_bottle)": [
+        "move_to(brown_bottle, plate)"
+      ],
+      "move_to(brown_bottle, plate)": [
+        "place(brown_bottle, plate)"
+      ],
+      "place(brown_bottle, plate)": [],
+      "move_to(mone,yellow_bottle)": [
+        "grasp(yellow_bottle)"
+      ],
+      "grasp(yellow_bottle)": [
+        "pick_up(yellow_bottle)"
+      ],
+      "pick_up(yellow_bottle)": [
+        "move_to(yellow_bottle, plate)"
+      ],
+      "move_to(yellow_bottle, plate)": [
+        "place(yellow_bottle, plate)"
+      ],
+      "place(yellow_bottle, plate)": [],
+      "move_to(none,blue_bottle)": [
+        "grasp(blue_bottle)"
+      ],
+      "grasp(blue_bottle)": [
+        "pick_up(blue_bottle)"
+      ],
+      "pick_up(blue_bottle)": [
+        "move_to(blue_bottle, plate)"
+      ],
+      "move_to(blue_bottle, plate)": [
+        "place(blue_bottle, plate)"
+      ],
+      "place(blue_bottle, plate)": [],
+      "move_to(none,big_white_bottle)": [
+        "grasp(big_white_bottle)"
+      ],
+      "grasp(big_white_bottle)": [
+        "pick_up(big_white_bottle)"
+      ],
+      "pick_up(big_white_bottle)": [
+        "move_to(big_white_bottle, plate)"
+      ],
+      "move_to(big_white_bottle, plate)": [
+        "place(big_white_bottle, plate)"
+      ],
+      "place(big_white_bottle, plate)": [],
+      "move_to(none,little_white_bottle)": [
+        "grasp(little_white_bottle)"
+      ],
+      "grasp(little_white_bottle)": [
+        "pick_up(little_white_bottle)"
+      ],
+      "pick_up(little_white_bottle)": [
+        "move_to(little_white_bottle, plate)"
+      ],
+      "move_to(little_white_bottle, plate)": [
+        "place(little_white_bottle, plate)"
+      ],
+      "place(little_white_bottle, plate)": [],
+      "move_to(none,strawberry)": [
+        "grasp(strawberry)"
+      ],
+      "grasp(strawberry)": [
+        "pick_up(strawberry)"
+      ],
+      "pick_up(strawberry)": [
+        "move_to(strawberry, plate)"
+      ],
+      "move_to(strawberry, plate)": [
+        "place(strawberry, plate)"
+      ],
+      "place(strawberry, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_40530.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_41369",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "fold(right_side_of_towel, left_side_of_towel)",
+      "fold(left_side_of_towel, right_side_of_towel)",
+      "fold(bottom_side_of_towel, top_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "fold(right_side_of_towel, left_side_of_towel)"
+      ],
+      "fold(right_side_of_towel, left_side_of_towel)": [
+        "fold(left_side_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_side_of_towel, right_side_of_towel)": [
+        "fold(bottom_side_of_towel, top_side_of_towel)"
+      ],
+      "fold(bottom_side_of_towel, top_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_41369.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_43232",
+    "actions_list": [
+      "move_to(none, marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker, cloth)",
+      "place(marker, cloth)",
+      "move_to(none,cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, box)",
+      "place(cloth, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "move_to(marker, cloth)"
+      ],
+      "move_to(marker, cloth)": [
+        "place(marker, cloth)"
+      ],
+      "place(marker, cloth)": [
+        "move_to(none,cloth)"
+      ],
+      "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)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_43232.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46008",
+    "actions_list": [
+      "move_to(none, rolling_pin)",
+      "grasp(rolling_pin)",
+      "pick_up(rolling_pin)",
+      "move_to(rolling_pin, oven)",
+      "place(rolling_pin, oven)",
+      "move_to(none, oven_door)",
+      "grasp(oven_door)",
+      "turn(oven_door,down,open)"
+    ],
+    "gt_dag": {
+      "move_to(none, rolling_pin)": [
+        "grasp(rolling_pin)"
+      ],
+      "grasp(rolling_pin)": [
+        "pick_up(rolling_pin)"
+      ],
+      "pick_up(rolling_pin)": [
+        "move_to(rolling_pin, oven)"
+      ],
+      "move_to(rolling_pin, oven)": [
+        "place(rolling_pin, oven)"
+      ],
+      "place(rolling_pin, oven)": [],
+      "move_to(none, oven_door)": [
+        "grasp(oven_door)"
+      ],
+      "grasp(oven_door)": [
+        "turn(oven_door,down,open)"
+      ],
+      "turn(oven_door,down,open)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_46008.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46356",
+    "actions_list": [
+      "move_to(none, white_and_blue_shirts)",
+      "grasp(white_and_blue_shirts)",
+      "pick_up(white_and_blue_shirts)",
+      "move_to(white_and_blue_shirts, basket)",
+      "place(white_and_blue_shirts, basket)",
+      "move_to(none, grey_shirts)",
+      "grasp(grey_shirts)",
+      "pick_up(grey_shirts)",
+      "move_to(grey_shirts, basket)",
+      "place(grey_shirts, basket)"
+    ],
+    "gt_dag": {
+      "move_to(none, white_and_blue_shirts)": [
+        "grasp(white_and_blue_shirts)"
+      ],
+      "grasp(white_and_blue_shirts)": [
+        "pick_up(white_and_blue_shirts)"
+      ],
+      "pick_up(white_and_blue_shirts)": [
+        "move_to(white_and_blue_shirts, basket)"
+      ],
+      "move_to(white_and_blue_shirts, basket)": [
+        "place(white_and_blue_shirts, basket)"
+      ],
+      "place(white_and_blue_shirts, basket)": [
+        "move_to(none, grey_shirts)"
+      ],
+      "move_to(none, grey_shirts)": [
+        "grasp(grey_shirts)"
+      ],
+      "grasp(grey_shirts)": [
+        "pick_up(grey_shirts)"
+      ],
+      "pick_up(grey_shirts)": [
+        "move_to(grey_shirts, basket)"
+      ],
+      "move_to(grey_shirts, basket)": [
+        "place(grey_shirts, basket)"
+      ],
+      "place(grey_shirts, basket)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_46356.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46501",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(cloth)",
+      "push(cloth, right_side_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "push(cloth, right_side_of_table)"
+      ],
+      "push(cloth, right_side_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_46501.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46820",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(drawer_handle)",
+      "pull(drawer,open)",
+      "move_to(none,apple)",
+      "grasp(apple)",
+      "pick_up(apple)",
+      "move_to(apple, basket)",
+      "place(apple, basket)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(drawer_handle)"
+      ],
+      "grasp(drawer_handle)": [
+        "pull(drawer,open)"
+      ],
+      "pull(drawer,open)": [
+        "move_to(none,apple)"
+      ],
+      "move_to(none,apple)": [
+        "grasp(apple)"
+      ],
+      "grasp(apple)": [
+        "pick_up(apple)"
+      ],
+      "pick_up(apple)": [
+        "move_to(apple, basket)"
+      ],
+      "move_to(apple, basket)": [
+        "place(apple, basket)"
+      ],
+      "place(apple, basket)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_46820.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47097",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon , bowl)",
+      "scoop(spoon , water, bowl)",
+      "move_to(scoop, cup)",
+      "pour(scoop, water, cup)",
+      "move_to(scoop, bowl)",
+      "place(scoop, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon , bowl)"
+      ],
+      "move_to(spoon , bowl)": [
+        "scoop(spoon , water, bowl)"
+      ],
+      "scoop(spoon , water, bowl)": [
+        "move_to(scoop, cup)"
+      ],
+      "move_to(scoop, cup)": [
+        "pour(scoop, water, cup)"
+      ],
+      "pour(scoop, water, cup)": [
+        "move_to(scoop, bowl)"
+      ],
+      "move_to(scoop, bowl)": [
+        "place(scoop, bowl)"
+      ],
+      "place(scoop, bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_47097.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47344",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "wipe(towel, sundries, left_side_of_table)",
+      "pick_up(towel)",
+      "move_to(towel, box)",
+      "place(towel, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "wipe(towel, sundries, left_side_of_table)"
+      ],
+      "wipe(towel, sundries, left_side_of_table)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, box)"
+      ],
+      "move_to(towel, box)": [
+        "place(towel, box)"
+      ],
+      "place(towel, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_47344.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47631",
+    "actions_list": [
+      "move_to(none, box)",
+      "grasp(box)",
+      "pick_up(box)",
+      "move_to(box, next_to_pencil)",
+      "place(box, next_to_pencil)"
+    ],
+    "gt_dag": {
+      "move_to(none, box)": [
+        "grasp(box)"
+      ],
+      "grasp(box)": [
+        "pick_up(box)"
+      ],
+      "pick_up(box)": [
+        "move_to(box, next_to_pencil)"
+      ],
+      "move_to(box, next_to_pencil)": [
+        "place(box, next_to_pencil)"
+      ],
+      "place(box, next_to_pencil)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_47631.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_48716",
+    "actions_list": [
+      "move_to(none, tap_nozzle)",
+      "grasp(tap_nozzle)",
+      "turn(tap_nozzle, clockwise, middle_of_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, tap_nozzle)": [
+        "grasp(tap_nozzle)"
+      ],
+      "grasp(tap_nozzle)": [
+        "turn(tap_nozzle, clockwise, middle_of_sink)"
+      ],
+      "turn(tap_nozzle, clockwise, middle_of_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_48716.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_51234",
+    "actions_list": [
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "move_to(bowl, right_side_of_table)",
+      "place(bowl, right_side_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl, right_side_of_table)"
+      ],
+      "move_to(bowl, right_side_of_table)": [
+        "place(bowl, right_side_of_table)"
+      ],
+      "place(bowl, right_side_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_51234.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_52134",
+    "actions_list": [
+      "move_to(none, lid_of_the_food_processor)",
+      "grasp(lid_of_the_food_processor)",
+      "pick_up(lid_of_the_food_processor)",
+      "move_to(lid_of_the_food_processor, table)",
+      "place(lid_of_the_food_processor, table)",
+      "move_to(none, blades_inside_the_chamber)",
+      "grasp(blades_inside_the_chamber)",
+      "pick_up(blades_inside_the_chamber)",
+      "move_to(blades_inside_the_chamber, table)",
+      "place(blades_inside_the_chamber, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, lid_of_the_food_processor)": [
+        "grasp(lid_of_the_food_processor)"
+      ],
+      "grasp(lid_of_the_food_processor)": [
+        "pick_up(lid_of_the_food_processor)"
+      ],
+      "pick_up(lid_of_the_food_processor)": [
+        "move_to(lid_of_the_food_processor, table)"
+      ],
+      "move_to(lid_of_the_food_processor, table)": [
+        "place(lid_of_the_food_processor, table)"
+      ],
+      "place(lid_of_the_food_processor, table)": [
+        "move_to(none, blades_inside_the_chamber)"
+      ],
+      "move_to(none, blades_inside_the_chamber)": [
+        "grasp(blades_inside_the_chamber)"
+      ],
+      "grasp(blades_inside_the_chamber)": [
+        "pick_up(blades_inside_the_chamber)"
+      ],
+      "pick_up(blades_inside_the_chamber)": [
+        "move_to(blades_inside_the_chamber, table)"
+      ],
+      "move_to(blades_inside_the_chamber, table)": [
+        "place(blades_inside_the_chamber, table)"
+      ],
+      "place(blades_inside_the_chamber, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_52134.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_53249",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, cabinet)",
+      "place(towel, cabinet)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, cabinet)"
+      ],
+      "move_to(towel, cabinet)": [
+        "place(towel, cabinet)"
+      ],
+      "place(towel, cabinet)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_53249.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_53844",
+    "actions_list": [
+      "move_to(none,cloth)",
+      "grasp(cloth)",
+      "pull(cloth, above_table)",
+      "move_to(none,lid)",
+      "grasp(lid)",
+      "pick_up(lid)",
+      "move_to(lid, table)",
+      "place(lid, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pull(cloth, above_table)"
+      ],
+      "pull(cloth, above_table)": [
+        "move_to(none,lid)"
+      ],
+      "move_to(none,lid)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "move_to(lid, table)"
+      ],
+      "move_to(lid, table)": [
+        "place(lid, table)"
+      ],
+      "place(lid, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_53844.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55014",
+    "actions_list": [
+      "move_to(none, glass_lid)",
+      "grasp(lid)",
+      "pick_up(lid)",
+      "move_to(lid, pot)",
+      "place(lid, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, glass_lid)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "move_to(lid, pot)"
+      ],
+      "move_to(lid, pot)": [
+        "place(lid, pot)"
+      ],
+      "place(lid, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_55014.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55047",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "fold(bottom_right_corner_of_towel, top_right_corner_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "fold(bottom_right_corner_of_towel, top_right_corner_of_towel)"
+      ],
+      "fold(bottom_right_corner_of_towel, top_right_corner_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_55047.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55344",
+    "actions_list": [
+      "move_to(none, tap)",
+      "grasp(tap)",
+      "turn(tap, up, vertical_of_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, tap)": [
+        "grasp(tap)"
+      ],
+      "grasp(tap)": [
+        "turn(tap, up, vertical_of_sink)"
+      ],
+      "turn(tap, up, vertical_of_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_55344.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_56984",
+    "actions_list": [
+      "move_to(none, marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker, table)",
+      "place(marker, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "move_to(marker, table)"
+      ],
+      "move_to(marker, table)": [
+        "place(marker, table)"
+      ],
+      "place(marker, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_56984.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_56993",
+    "actions_list": [
+      "move_to(none, trash)",
+      "grasp(trash)",
+      "pick_up(trash)",
+      "move_to(trash, sink)",
+      "place(trash, sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, trash)": [
+        "grasp(trash)"
+      ],
+      "grasp(trash)": [
+        "pick_up(trash)"
+      ],
+      "pick_up(trash)": [
+        "move_to(trash, sink)"
+      ],
+      "move_to(trash, sink)": [
+        "place(trash, sink)"
+      ],
+      "place(trash, sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_56993.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_57979",
+    "actions_list": [
+      "move_to(none, left_cabinet_door)",
+      "grasp(left_cabinet_door)",
+      "push(left_cabinet_door)"
+    ],
+    "gt_dag": {
+      "move_to(none, left_cabinet_door)": [
+        "grasp(left_cabinet_door)"
+      ],
+      "grasp(left_cabinet_door)": [
+        "push(left_cabinet_door)"
+      ],
+      "push(left_cabinet_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_57979.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_59135",
+    "actions_list": [
+      "move_to(none, candy_bar)",
+      "grasp(candy_bar)",
+      "pick_up(candy_bar)",
+      "move_to(candy_bar, cabinet)",
+      "place(candy_bar, cabinet)"
+    ],
+    "gt_dag": {
+      "move_to(none, candy_bar)": [
+        "grasp(candy_bar)"
+      ],
+      "grasp(candy_bar)": [
+        "pick_up(candy_bar)"
+      ],
+      "pick_up(candy_bar)": [
+        "move_to(candy_bar, cabinet)"
+      ],
+      "move_to(candy_bar, cabinet)": [
+        "place(candy_bar, cabinet)"
+      ],
+      "place(candy_bar, cabinet)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_59135.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_59697",
+    "actions_list": [
+      "move_to(none, broccoli)",
+      "grasp(broccoli)",
+      "pick_up(broccoli)",
+      "place(broccoli, pot)",
+      "grasp(tomatoes)",
+      "pick_up(tomatoes)",
+      "place(tomatoes, pot)",
+      "move_to(none, glass_lid)",
+      "grasp(glass_lid)",
+      "pick_up(glass_lid)",
+      "place(glass_lid, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, broccoli)": [
+        "grasp(broccoli)"
+      ],
+      "grasp(broccoli)": [
+        "pick_up(broccoli)"
+      ],
+      "pick_up(broccoli)": [
+        "place(broccoli, pot)"
+      ],
+      "place(broccoli, pot)": [
+        "move_to(none, glass_lid)"
+      ],
+      "grasp(tomatoes)": [
+        "pick_up(tomatoes)"
+      ],
+      "pick_up(tomatoes)": [
+        "place(tomatoes, pot)"
+      ],
+      "place(tomatoes, pot)": [
+        "move_to(none, glass_lid)"
+      ],
+      "move_to(none, glass_lid)": [
+        "grasp(glass_lid)"
+      ],
+      "grasp(glass_lid)": [
+        "pick_up(glass_lid)"
+      ],
+      "pick_up(glass_lid)": [
+        "place(glass_lid, pot)"
+      ],
+      "place(glass_lid, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_59697.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_60500",
+    "actions_list": [
+      "move_to(none, colored_box)",
+      "grasp(colored_box)",
+      "pick_up(colored_box)",
+      "move_to(colored_box, table)",
+      "place(colored_box, table)",
+      "grasp(white_box)",
+      "pick_up(white_box)",
+      "move_to(white_box, colored_box)",
+      "place(white_box, colored_box)"
+    ],
+    "gt_dag": {
+      "move_to(none, colored_box)": [
+        "grasp(colored_box)"
+      ],
+      "grasp(colored_box)": [
+        "pick_up(colored_box)"
+      ],
+      "pick_up(colored_box)": [
+        "move_to(colored_box, table)"
+      ],
+      "move_to(colored_box, table)": [
+        "place(colored_box, table)"
+      ],
+      "place(colored_box, table)": [
+        "grasp(white_box)"
+      ],
+      "grasp(white_box)": [
+        "pick_up(white_box)"
+      ],
+      "pick_up(white_box)": [
+        "move_to(white_box, colored_box)"
+      ],
+      "move_to(white_box, colored_box)": [
+        "place(white_box, colored_box)"
+      ],
+      "place(white_box, colored_box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_60500.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_60579",
+    "actions_list": [
+      "move_to(none, marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker, mug)",
+      "place(marker, mug)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "move_to(marker, mug)"
+      ],
+      "move_to(marker, mug)": [
+        "place(marker, mug)"
+      ],
+      "place(marker, mug)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_60579.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_61198",
+    "actions_list": [
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "wipe(towel, unknown, table)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, box)",
+      "place(towel, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "wipe(towel, unknown, table)"
+      ],
+      "wipe(towel, unknown, table)": [
+        "grasp(towel)<1>"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, box)"
+      ],
+      "move_to(towel, box)": [
+        "place(towel, box)"
+      ],
+      "place(towel, box)": [],
+      "grasp(towel)<1>": [
+        "pick_up(towel)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_61198.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62271",
+    "actions_list": [
+      "move_to(none, tray)",
+      "grasp(tray)",
+      "pick_up(tray)",
+      "move_to(tray, window_sill)",
+      "place(tray, window_sill)",
+      "move_to(none, green_ball)",
+      "grasp(green_ball)",
+      "pick_up(green_ball)",
+      "move_to(green_ball,tray)",
+      "place(green_ball, tray)",
+      "grasp(drawer)",
+      "push(drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, tray)": [
+        "grasp(tray)"
+      ],
+      "grasp(tray)": [
+        "pick_up(tray)"
+      ],
+      "pick_up(tray)": [
+        "move_to(tray, window_sill)"
+      ],
+      "move_to(tray, window_sill)": [
+        "place(tray, window_sill)"
+      ],
+      "place(tray, window_sill)": [
+        "move_to(none, green_ball)"
+      ],
+      "move_to(none, green_ball)": [
+        "grasp(green_ball)"
+      ],
+      "grasp(green_ball)": [
+        "pick_up(green_ball)"
+      ],
+      "pick_up(green_ball)": [
+        "move_to(green_ball,tray)"
+      ],
+      "move_to(green_ball,tray)": [
+        "place(green_ball, tray)"
+      ],
+      "place(green_ball, tray)": [],
+      "grasp(drawer)": [
+        "push(drawer)"
+      ],
+      "push(drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_62271.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62835",
+    "actions_list": [
+      "move_to(none, yellow_towel)",
+      "grasp(yellow_towel)",
+      "pull(yellow_towel, right_side_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, yellow_towel)": [
+        "grasp(yellow_towel)"
+      ],
+      "grasp(yellow_towel)": [
+        "pull(yellow_towel, right_side_of_table)"
+      ],
+      "pull(yellow_towel, right_side_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_62835.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62963",
+    "actions_list": [
+      "move_to(none, tap)",
+      "grasp(tap)",
+      "turn(tap, clockwise, middle_of_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, tap)": [
+        "grasp(tap)"
+      ],
+      "grasp(tap)": [
+        "turn(tap, clockwise, middle_of_sink)"
+      ],
+      "turn(tap, clockwise, middle_of_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_62963.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62985",
+    "actions_list": [
+      "move_to(none, leftmost_bowl)",
+      "grasp(leftmost_bowl)",
+      "pick_up(leftmost_bowl)",
+      "move_to(leftmost_bowl, bowl_pile)",
+      "place(leftmost_bowl, bowl_pile)"
+    ],
+    "gt_dag": {
+      "move_to(none, leftmost_bowl)": [
+        "grasp(leftmost_bowl)"
+      ],
+      "grasp(leftmost_bowl)": [
+        "pick_up(leftmost_bowl)"
+      ],
+      "pick_up(leftmost_bowl)": [
+        "move_to(leftmost_bowl, bowl_pile)"
+      ],
+      "move_to(leftmost_bowl, bowl_pile)": [
+        "place(leftmost_bowl, bowl_pile)"
+      ],
+      "place(leftmost_bowl, bowl_pile)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_62985.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_63330",
+    "actions_list": [
+      "move_to(none, drawer)",
+      "grasp(straw_pack)",
+      "pick_up(straw_pack)",
+      "move_to(none, tray)",
+      "place(straw_pack, tray)"
+    ],
+    "gt_dag": {
+      "move_to(none, drawer)": [
+        "grasp(straw_pack)"
+      ],
+      "grasp(straw_pack)": [
+        "pick_up(straw_pack)"
+      ],
+      "pick_up(straw_pack)": [
+        "move_to(none, tray)"
+      ],
+      "move_to(none, tray)": [
+        "place(straw_pack, tray)"
+      ],
+      "place(straw_pack, tray)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_63330.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64230",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, next_to_eggbeater)",
+      "place(spoon, next_to_eggbeater)",
+      "move_to(none, green_bowl)",
+      "grasp(green_bowl)",
+      "pick_up(green_bowl)",
+      "move_to(green_bowl, next_to_spoon)",
+      "place(green_bowl, next_to_spoon)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, next_to_eggbeater)"
+      ],
+      "move_to(spoon, next_to_eggbeater)": [
+        "place(spoon, next_to_eggbeater)"
+      ],
+      "place(spoon, next_to_eggbeater)": [
+        "move_to(none, green_bowl)"
+      ],
+      "move_to(none, green_bowl)": [
+        "grasp(green_bowl)"
+      ],
+      "grasp(green_bowl)": [
+        "pick_up(green_bowl)"
+      ],
+      "pick_up(green_bowl)": [
+        "move_to(green_bowl, next_to_spoon)"
+      ],
+      "move_to(green_bowl, next_to_spoon)": [
+        "place(green_bowl, next_to_spoon)"
+      ],
+      "place(green_bowl, next_to_spoon)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_64230.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64444",
+    "actions_list": [
+      "move_to(none,cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, left_of_table)",
+      "place(cup, left_of_table)",
+      "move_to(none,marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "move_to(marker, cup)",
+      "place(marker, cup)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "place(marker, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, left_of_table)"
+      ],
+      "move_to(cup, left_of_table)": [
+        "place(cup, left_of_table)"
+      ],
+      "place(cup, left_of_table)": [
+        "move_to(none,marker)"
+      ],
+      "move_to(none,marker)": [
+        "grasp(marker)"
+      ],
+      "move_to(marker, cup)": [
+        "place(marker, cup)"
+      ],
+      "place(marker, cup)": [
+        " grasp(marker) pick_up(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "move_to(marker, cup)"
+      ],
+      "place(marker, table)": [],
+      " grasp(marker) pick_up(marker)": [
+        "place(marker, table)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_64444.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64756",
+    "actions_list": [
+      "move_to(none, bowl_on_the_top_level)",
+      "grasp(bowl_on_the_top_level)",
+      "pick_up(bowl_on_the_top_level)",
+      "move_to(bowl_on_the_top_level, table)",
+      "place(bowl_on_the_top_level, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl_on_the_top_level)": [
+        "grasp(bowl_on_the_top_level)"
+      ],
+      "grasp(bowl_on_the_top_level)": [
+        "pick_up(bowl_on_the_top_level)"
+      ],
+      "pick_up(bowl_on_the_top_level)": [
+        "move_to(bowl_on_the_top_level, table)"
+      ],
+      "move_to(bowl_on_the_top_level, table)": [
+        "place(bowl_on_the_top_level, table)"
+      ],
+      "place(bowl_on_the_top_level, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_64756.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64843",
+    "actions_list": [
+      "move_to(none, black_t-shirt)",
+      "grasp(black_t-shirt)",
+      "pick_up(black_t-shirt)",
+      "move_to(black_t-shirt, back_of_the_chair)",
+      "place(black_t-shirt, back_of_the_chair)",
+      "move_to(none, towel)",
+      "grasp(towel)",
+      "fold(left_side_of_towel, right_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, black_t-shirt)": [
+        "grasp(black_t-shirt)"
+      ],
+      "grasp(black_t-shirt)": [
+        "pick_up(black_t-shirt)"
+      ],
+      "pick_up(black_t-shirt)": [
+        "move_to(black_t-shirt, back_of_the_chair)"
+      ],
+      "move_to(black_t-shirt, back_of_the_chair)": [
+        "place(black_t-shirt, back_of_the_chair)"
+      ],
+      "place(black_t-shirt, back_of_the_chair)": [
+        "move_to(none, towel)"
+      ],
+      "move_to(none, towel)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "fold(left_side_of_towel, right_side_of_towel)"
+      ],
+      "fold(left_side_of_towel, right_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_64843.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65532",
+    "actions_list": [
+      "move_to(none, fork)",
+      "grasp(fork)",
+      "pick_up(fork)",
+      "move_to(fork, pot)",
+      "place(fork, pot)",
+      "move_to(none, lid)",
+      "grasp(lid)",
+      "pick_up(lid)",
+      "move_to(lid, pot)",
+      "place(lid, pot)"
+    ],
+    "gt_dag": {
+      "move_to(none, fork)": [
+        "grasp(fork)"
+      ],
+      "grasp(fork)": [
+        "pick_up(fork)"
+      ],
+      "pick_up(fork)": [
+        "move_to(fork, pot)"
+      ],
+      "move_to(fork, pot)": [
+        "place(fork, pot)"
+      ],
+      "place(fork, pot)": [
+        "move_to(none, lid)"
+      ],
+      "move_to(none, lid)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "move_to(lid, pot)"
+      ],
+      "move_to(lid, pot)": [
+        "place(lid, pot)"
+      ],
+      "place(lid, pot)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_65532.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65638",
+    "actions_list": [
+      "move_to(none, lid)",
+      "grasp(lid)",
+      "pick_up(lid)",
+      "move_to(lid, table)",
+      "place(lid, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, lid)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "move_to(lid, table)"
+      ],
+      "move_to(lid, table)": [
+        "place(lid, table)"
+      ],
+      "place(lid, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_65638.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65936",
+    "actions_list": [
+      "move_to(none, cupcake)",
+      "grasp(cupcake)",
+      "pick_up(cupcake)",
+      "move_to(cupcake, front_of_table)",
+      "place(cupcake, front_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cupcake)": [
+        "grasp(cupcake)"
+      ],
+      "grasp(cupcake)": [
+        "pick_up(cupcake)"
+      ],
+      "pick_up(cupcake)": [
+        "move_to(cupcake, front_of_table)"
+      ],
+      "move_to(cupcake, front_of_table)": [
+        "place(cupcake, front_of_table)"
+      ],
+      "place(cupcake, front_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_65936.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_66238",
+    "actions_list": [
+      "move_to(none, towel_on_the_top_of_table)",
+      "grasp(towel_on_the_top_of_table)",
+      "pick_up(towel_on_the_top_of_table)",
+      "move_to(towel_on_the_top_of_table, hook)",
+      "place(towel_on_the_top_of_table, hook)",
+      "grasp(towel_on_the_top_of_table)",
+      "pick_up(towel_on_the_top_of_table)",
+      "move_to(towel_on_the_top_of_table, table)",
+      "place(towel_on_the_top_of_table, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, towel_on_the_top_of_table)": [
+        "grasp(towel_on_the_top_of_table)"
+      ],
+      "move_to(towel_on_the_top_of_table, hook)": [
+        "place(towel_on_the_top_of_table, hook)"
+      ],
+      "place(towel_on_the_top_of_table, hook)": [
+        "grasp(towel_on_the_top_of_table)<1>"
+      ],
+      "grasp(towel_on_the_top_of_table)": [
+        "pick_up(towel_on_the_top_of_table)"
+      ],
+      "pick_up(towel_on_the_top_of_table)": [
+        "move_to(towel_on_the_top_of_table, hook)"
+      ],
+      "move_to(towel_on_the_top_of_table, table)": [
+        "place(towel_on_the_top_of_table, table)"
+      ],
+      "place(towel_on_the_top_of_table, table)": [],
+      "grasp(towel_on_the_top_of_table)<1>": [
+        "pick_up(towel_on_the_top_of_table)<1>"
+      ],
+      "pick_up(towel_on_the_top_of_table)<1>": [
+        "move_to(towel_on_the_top_of_table, table)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_66238.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68033",
+    "actions_list": [
+      "move_to(none, peach_shirt)",
+      "grasp(peach_shirt)",
+      "pick_up(peach_shirt)",
+      "place(peach_shirt, box)",
+      "move_to(none, pink_and_orange_shirts)",
+      "grasp(pink_and_orange_shirts)",
+      "pick_up(pink_and_orange_shirts)",
+      "move_to(pink_and_orange_shirts, box)",
+      "place(pink_and_orange_shirts, box)",
+      "grasp(towel)",
+      "pick_up(towel)",
+      "move_to(towel, box)",
+      "place(towel, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, peach_shirt)": [
+        "grasp(peach_shirt)"
+      ],
+      "grasp(peach_shirt)": [
+        "pick_up(peach_shirt)"
+      ],
+      "pick_up(peach_shirt)": [
+        "place(peach_shirt, box)"
+      ],
+      "place(peach_shirt, box)": [],
+      "move_to(none, pink_and_orange_shirts)": [
+        "grasp(pink_and_orange_shirts)"
+      ],
+      "grasp(pink_and_orange_shirts)": [
+        "pick_up(pink_and_orange_shirts)"
+      ],
+      "pick_up(pink_and_orange_shirts)": [
+        "move_to(pink_and_orange_shirts, box)"
+      ],
+      "move_to(pink_and_orange_shirts, box)": [
+        "place(pink_and_orange_shirts, box)"
+      ],
+      "place(pink_and_orange_shirts, box)": [
+        "grasp(towel)"
+      ],
+      "grasp(towel)": [
+        "pick_up(towel)"
+      ],
+      "pick_up(towel)": [
+        "move_to(towel, box)"
+      ],
+      "move_to(towel, box)": [
+        "place(towel, box)"
+      ],
+      "place(towel, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_68033.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68541",
+    "actions_list": [
+      "move_to(none, plate)",
+      "grasp(plate)",
+      "pick_up(plate)",
+      "move_to(plate, bowl)",
+      "place(plate, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "move_to(bowl, top_of_the_air_fryer)",
+      "place(bowl, top_of_the_air_fryer)"
+    ],
+    "gt_dag": {
+      "move_to(none, plate)": [
+        "grasp(plate)"
+      ],
+      "grasp(plate)": [
+        "pick_up(plate)"
+      ],
+      "pick_up(plate)": [
+        "move_to(plate, bowl)"
+      ],
+      "move_to(plate, bowl)": [
+        "place(plate, bowl)"
+      ],
+      "place(plate, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl, top_of_the_air_fryer)"
+      ],
+      "move_to(bowl, top_of_the_air_fryer)": [
+        "place(bowl, top_of_the_air_fryer)"
+      ],
+      "place(bowl, top_of_the_air_fryer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_68541.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68770",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "scoop(spoon, unknown, bowl)",
+      "move_to(spoon, jug)",
+      "pour(spoon, unknown, jug)",
+      "move_to(spoon, table)",
+      "place(spoon, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "scoop(spoon, unknown, bowl)"
+      ],
+      "scoop(spoon, unknown, bowl)": [
+        "move_to(spoon, jug)"
+      ],
+      "move_to(spoon, jug)": [
+        "pour(spoon, unknown, jug)"
+      ],
+      "pour(spoon, unknown, jug)": [
+        "move_to(spoon, table)"
+      ],
+      "move_to(spoon, table)": [
+        "place(spoon, table)"
+      ],
+      "place(spoon, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_68770.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69162",
+    "actions_list": [
+      "move_to(none, butter_knife)",
+      "grasp(butter_knife)",
+      "pick_up(butter_knife)",
+      "move_to(butter_knife, drawer)",
+      "place(butter_knife, drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, butter_knife)": [
+        "grasp(butter_knife)"
+      ],
+      "grasp(butter_knife)": [
+        "pick_up(butter_knife)"
+      ],
+      "pick_up(butter_knife)": [
+        "move_to(butter_knife, drawer)"
+      ],
+      "move_to(butter_knife, drawer)": [
+        "place(butter_knife, drawer)"
+      ],
+      "place(butter_knife, drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_69162.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69442",
+    "actions_list": [
+      "move_to(none, slipper)",
+      "grasp(slipper)",
+      "pick_up(slipper)",
+      "move_to(slipper, top_shelf)",
+      "place(slipper, top_shelf)"
+    ],
+    "gt_dag": {
+      "move_to(none, slipper)": [
+        "grasp(slipper)"
+      ],
+      "grasp(slipper)": [
+        "pick_up(slipper)"
+      ],
+      "pick_up(slipper)": [
+        "move_to(slipper, top_shelf)"
+      ],
+      "move_to(slipper, top_shelf)": [
+        "place(slipper, top_shelf)"
+      ],
+      "place(slipper, top_shelf)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_69442.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69495",
+    "actions_list": [
+      "move_to(none, jar)",
+      "grasp(jar)",
+      "pick_up(jar)",
+      "move_to(jar, bowl)",
+      "pour(jar, unknown, bowl)",
+      "move_to(jar, table)",
+      "place(jar, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, jar)": [
+        "grasp(jar)"
+      ],
+      "grasp(jar)": [
+        "pick_up(jar)"
+      ],
+      "pick_up(jar)": [
+        "move_to(jar, bowl)"
+      ],
+      "move_to(jar, bowl)": [
+        "pour(jar, unknown, bowl)"
+      ],
+      "pour(jar, unknown, bowl)": [
+        "move_to(jar, table)"
+      ],
+      "move_to(jar, table)": [
+        "place(jar, table)"
+      ],
+      "place(jar, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_69495.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_70722",
+    "actions_list": [
+      "move_to(none, cabinet_door)",
+      "grasp(cabinet_door_handle)",
+      "push(cabinet_door)"
+    ],
+    "gt_dag": {
+      "move_to(none, cabinet_door)": [
+        "grasp(cabinet_door_handle)"
+      ],
+      "grasp(cabinet_door_handle)": [
+        "push(cabinet_door)"
+      ],
+      "push(cabinet_door)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_70722.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_71001",
+    "actions_list": [
+      "move_to(none, a_shoe_on_lower_part_of_table)",
+      "grasp(a_shoe_on_lower_part_of_table)",
+      "pick_up(a_shoe_on_lower_part_of_table)",
+      "move_to(a_shoe_on_lower_part_of_table, box)",
+      "place(a_shoe_on_lower_part_of_table, box)"
+    ],
+    "gt_dag": {
+      "move_to(none, a_shoe_on_lower_part_of_table)": [
+        "grasp(a_shoe_on_lower_part_of_table)"
+      ],
+      "grasp(a_shoe_on_lower_part_of_table)": [
+        "pick_up(a_shoe_on_lower_part_of_table)"
+      ],
+      "pick_up(a_shoe_on_lower_part_of_table)": [
+        "move_to(a_shoe_on_lower_part_of_table, box)"
+      ],
+      "move_to(a_shoe_on_lower_part_of_table, box)": [
+        "place(a_shoe_on_lower_part_of_table, box)"
+      ],
+      "place(a_shoe_on_lower_part_of_table, box)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_71001.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_72712",
+    "actions_list": [
+      "move_to(none, rope)",
+      "grasp(rope)",
+      "pick_up(rope)",
+      "move_to(rope, board)",
+      "place(rope, board)"
+    ],
+    "gt_dag": {
+      "move_to(none, rope)": [
+        "grasp(rope)"
+      ],
+      "grasp(rope)": [
+        "pick_up(rope)"
+      ],
+      "pick_up(rope)": [
+        "move_to(rope, board)"
+      ],
+      "move_to(rope, board)": [
+        "place(rope, board)"
+      ],
+      "place(rope, board)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_72712.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_74014",
+    "actions_list": [
+      "move_to(none, screwdriver)",
+      "grasp(screwdriver)",
+      "pick_up(screwdriver)",
+      "move_to(screwdriver, drawer)",
+      "place(screwdriver, drawer)",
+      "grasp(drawer)",
+      "push(drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, screwdriver)": [
+        "grasp(screwdriver)"
+      ],
+      "grasp(screwdriver)": [
+        "pick_up(screwdriver)"
+      ],
+      "pick_up(screwdriver)": [
+        "move_to(screwdriver, drawer)"
+      ],
+      "move_to(screwdriver, drawer)": [
+        "place(screwdriver, drawer)"
+      ],
+      "place(screwdriver, drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer)"
+      ],
+      "push(drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_74014.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_78108",
+    "actions_list": [
+      "move_to(none, screwdriver)",
+      "grasp(screwdriver)",
+      "pick_up(screwdriver)",
+      "move_to(screwdriver, drawer)",
+      "place(screwdriver, drawer)",
+      "move_to(drawer)",
+      "grasp(drawer)",
+      "push(drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, screwdriver)": [
+        "grasp(screwdriver)"
+      ],
+      "grasp(screwdriver)": [
+        "pick_up(screwdriver)"
+      ],
+      "pick_up(screwdriver)": [
+        "move_to(screwdriver, drawer)"
+      ],
+      "move_to(screwdriver, drawer)": [
+        "place(screwdriver, drawer)"
+      ],
+      "place(screwdriver, drawer)": [
+        "move_to(drawer)"
+      ],
+      "move_to(drawer)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer)"
+      ],
+      "push(drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_78108.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79145",
+    "actions_list": [
+      "move_to(none, can)",
+      "grasp(can)",
+      "pick_up(can)",
+      "move_to(can, bowl)",
+      "pour(can, unknown, bowl)",
+      "move_to(can, table)",
+      "place(can, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, can)": [
+        "grasp(can)"
+      ],
+      "grasp(can)": [
+        "pick_up(can)"
+      ],
+      "pick_up(can)": [
+        "move_to(can, bowl)"
+      ],
+      "move_to(can, bowl)": [
+        "pour(can, unknown, bowl)"
+      ],
+      "pour(can, unknown, bowl)": [
+        "move_to(can, table)"
+      ],
+      "move_to(can, table)": [
+        "place(can, table)"
+      ],
+      "place(can, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_79145.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79389",
+    "actions_list": [
+      "move_to(none, lid)",
+      "grasp(lid)",
+      "pick_up(lid)",
+      "move_to(lid, pan)",
+      "place(lid, pan)",
+      "move_to(none, lid)",
+      "grasp(lid)",
+      "pick_up(lid)",
+      "move_to(lid, table)",
+      "place(lid, table)"
+    ],
+    "gt_dag": {
+      "move_to(lid, pan)": [
+        "place(lid, pan)"
+      ],
+      "place(lid, pan)": [
+        "move_to(none, lid)<1>"
+      ],
+      "move_to(none, lid)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "pick_up(lid)"
+      ],
+      "pick_up(lid)": [
+        "move_to(lid, pan)"
+      ],
+      "move_to(lid, table)": [],
+      "place(lid, table)": [],
+      "move_to(none, lid)<1>": [
+        "grasp(lid) pick_up(lid) "
+      ],
+      "grasp(lid) pick_up(lid) ": [
+        "move_to(lid, table)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_79389.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79399",
+    "actions_list": [
+      "move_to(none, pear)",
+      "grasp(pear)",
+      "pick_up(pear)",
+      "move_to(pear, drawer)",
+      "place(pear, drawer)",
+      "move_to(watermelon)",
+      "grasp(watermelon)",
+      "pick_up(watermelon)",
+      "move_to(watermelon, table)",
+      "place(watermelon, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, pear)": [],
+      "grasp(pear)": [],
+      "pick_up(pear)": [],
+      "move_to(pear, drawer)": [],
+      "place(pear, drawer)": [],
+      "move_to(watermelon)": [],
+      "grasp(watermelon)": [],
+      "pick_up(watermelon)": [],
+      "move_to(watermelon, table)": [],
+      "place(watermelon, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_79399.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79681",
+    "actions_list": [
+      "move_to(none, folded_towel)",
+      "grasp(top_side_of_towel)",
+      "unfold(right_side_of_towel, left_side_of_towel)"
+    ],
+    "gt_dag": {
+      "move_to(none, folded_towel)": [
+        "grasp(top_side_of_towel)"
+      ],
+      "grasp(top_side_of_towel)": [
+        "unfold(right_side_of_towel, left_side_of_towel)"
+      ],
+      "unfold(right_side_of_towel, left_side_of_towel)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_79681.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_80962",
+    "actions_list": [
+      "move_to(none, cloth)",
+      "grasp(green_towel)",
+      "wipe(green_towel, unknown, counter)",
+      "move_to(none, broom)",
+      "grasp(broom)",
+      "pick_up(broom)",
+      "move_to(broom, right_of_table)",
+      "place(broom, right_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, cloth)": [
+        "grasp(green_towel)"
+      ],
+      "grasp(green_towel)": [
+        "wipe(green_towel, unknown, counter)"
+      ],
+      "wipe(green_towel, unknown, counter)": [
+        "move_to(none, broom)"
+      ],
+      "move_to(none, broom)": [
+        "grasp(broom)"
+      ],
+      "grasp(broom)": [
+        "pick_up(broom)"
+      ],
+      "pick_up(broom)": [
+        "move_to(broom, right_of_table)"
+      ],
+      "move_to(broom, right_of_table)": [
+        "place(broom, right_of_table)"
+      ],
+      "place(broom, right_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_80962.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81282",
+    "actions_list": [
+      "move_to(yellow_towel_and_nude_towel)",
+      "grasp(yellow_towel_and_nude_towel)",
+      "pick_up(yellow_towel_and_nude_towel)",
+      "move_to(yellow_towel_and_nude_towel, left_side_of_table)",
+      "place(yellow_towel_and_nude_towel, left_side_of_table)",
+      "grasp(pink_towel_and_white_towel)",
+      "pick_up(pink_towel_and_white_towel)",
+      "move_to(pink_towel_and_white_towel, left_side_of_table)",
+      "place(pink_towel_and_white_towel, left_side_of_table)",
+      "grasp(box)",
+      "pick_up(box)",
+      "move_to(box, left_side_of_table)",
+      "place(box, left_side_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(yellow_towel_and_nude_towel)": [
+        "grasp(yellow_towel_and_nude_towel)"
+      ],
+      "grasp(yellow_towel_and_nude_towel)": [
+        "pick_up(yellow_towel_and_nude_towel)"
+      ],
+      "pick_up(yellow_towel_and_nude_towel)": [
+        "move_to(yellow_towel_and_nude_towel, left_side_of_table)"
+      ],
+      "move_to(yellow_towel_and_nude_towel, left_side_of_table)": [
+        "place(yellow_towel_and_nude_towel, left_side_of_table)"
+      ],
+      "place(yellow_towel_and_nude_towel, left_side_of_table)": [
+        "grasp(pink_towel_and_white_towel)"
+      ],
+      "grasp(pink_towel_and_white_towel)": [
+        "pick_up(pink_towel_and_white_towel)"
+      ],
+      "pick_up(pink_towel_and_white_towel)": [
+        "move_to(pink_towel_and_white_towel, left_side_of_table)"
+      ],
+      "move_to(pink_towel_and_white_towel, left_side_of_table)": [
+        "place(pink_towel_and_white_towel, left_side_of_table)"
+      ],
+      "place(pink_towel_and_white_towel, left_side_of_table)": [
+        "grasp(box)"
+      ],
+      "grasp(box)": [
+        "pick_up(box)"
+      ],
+      "pick_up(box)": [
+        "move_to(box, left_side_of_table)"
+      ],
+      "move_to(box, left_side_of_table)": [
+        "place(box, left_side_of_table)"
+      ],
+      "place(box, left_side_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_81282.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81663",
+    "actions_list": [
+      "move_to(none,cup)",
+      "grasp(cup)",
+      "pick_up(cup)",
+      "move_to(cup, table)",
+      "place(cup, table)",
+      "move_to(none,cloth)",
+      "grasp(cloth)",
+      "pick_up(cloth)",
+      "move_to(cloth, bowl)",
+      "place(cloth, bowl)",
+      "grasp(drawer)",
+      "push(drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none,cup)": [
+        "grasp(cup)"
+      ],
+      "grasp(cup)": [
+        "pick_up(cup)"
+      ],
+      "pick_up(cup)": [
+        "move_to(cup, table)"
+      ],
+      "move_to(cup, table)": [
+        "place(cup, table)"
+      ],
+      "place(cup, table)": [
+        "grasp(drawer)"
+      ],
+      "move_to(none,cloth)": [
+        "grasp(cloth)"
+      ],
+      "grasp(cloth)": [
+        "pick_up(cloth)"
+      ],
+      "pick_up(cloth)": [
+        "move_to(cloth, bowl)"
+      ],
+      "move_to(cloth, bowl)": [
+        "place(cloth, bowl)"
+      ],
+      "place(cloth, bowl)": [
+        "grasp(drawer)"
+      ],
+      "grasp(drawer)": [
+        "push(drawer)"
+      ],
+      "push(drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_81663.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81830",
+    "actions_list": [
+      "move_to(none, white_card)",
+      "grasp(white_card)",
+      "pick_up(white_card)",
+      "move_to(white_card, open_box_with_cords)",
+      "place(white_card, open_box_with_cords)"
+    ],
+    "gt_dag": {
+      "move_to(none, white_card)": [
+        "grasp(white_card)"
+      ],
+      "grasp(white_card)": [
+        "pick_up(white_card)"
+      ],
+      "pick_up(white_card)": [
+        "move_to(white_card, open_box_with_cords)"
+      ],
+      "move_to(white_card, open_box_with_cords)": [
+        "place(white_card, open_box_with_cords)"
+      ],
+      "place(white_card, open_box_with_cords)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_81830.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82054",
+    "actions_list": [
+      "move_to(none, box)",
+      "grasp(box)",
+      "pick_up(box)",
+      "move_to(box, trash_can)",
+      "pour(box, trash, trash_can)",
+      "move_to(box, counter)",
+      "place(box, counter)"
+    ],
+    "gt_dag": {
+      "move_to(none, box)": [
+        "grasp(box)"
+      ],
+      "grasp(box)": [
+        "pick_up(box)"
+      ],
+      "pick_up(box)": [
+        "move_to(box, trash_can)"
+      ],
+      "move_to(box, trash_can)": [
+        "pour(box, trash, trash_can)"
+      ],
+      "pour(box, trash, trash_can)": [
+        "move_to(box, counter)"
+      ],
+      "move_to(box, counter)": [
+        "place(box, counter)"
+      ],
+      "place(box, counter)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_82054.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82433",
+    "actions_list": [
+      "move_to(none, tap)",
+      "grasp(tap)",
+      "turn(tap, clockwise, left_of_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, tap)": [
+        "grasp(tap)"
+      ],
+      "grasp(tap)": [
+        "turn(tap, clockwise, left_of_sink)"
+      ],
+      "turn(tap, clockwise, left_of_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_82433.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82519",
+    "actions_list": [
+      "move_to(none, milk)",
+      "grasp(milk)",
+      "pick_up(milk)",
+      "move_to(milk, table)",
+      "place(milk, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, milk)": [
+        "grasp(milk)"
+      ],
+      "grasp(milk)": [
+        "pick_up(milk)"
+      ],
+      "pick_up(milk)": [
+        "move_to(milk, table)"
+      ],
+      "move_to(milk, table)": [
+        "place(milk, table)"
+      ],
+      "place(milk, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_82519.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82797",
+    "actions_list": [
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "move_to(bowl, windowsill)",
+      "place(bowl, windowsill)",
+      "move_to(none, drawer)",
+      "push(drawer)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "move_to(bowl, windowsill)"
+      ],
+      "move_to(bowl, windowsill)": [
+        "place(bowl, windowsill)"
+      ],
+      "place(bowl, windowsill)": [
+        "move_to(none, drawer)"
+      ],
+      "move_to(none, drawer)": [
+        "push(drawer)"
+      ],
+      "push(drawer)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_82797.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84109",
+    "actions_list": [
+      "move_to(none, a_piece_of_paper)",
+      "grasp(a_piece_of_paper)",
+      "pick_up(a_piece_of_paper)",
+      "move_to(a_piece_of_paper, table)",
+      "place(a_piece_of_paper, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, a_piece_of_paper)": [
+        "grasp(a_piece_of_paper)"
+      ],
+      "grasp(a_piece_of_paper)": [
+        "pick_up(a_piece_of_paper)"
+      ],
+      "pick_up(a_piece_of_paper)": [
+        "move_to(a_piece_of_paper, table)"
+      ],
+      "move_to(a_piece_of_paper, table)": [
+        "place(a_piece_of_paper, table)"
+      ],
+      "place(a_piece_of_paper, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_84109.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84559",
+    "actions_list": [
+      "move_to(ball, racket)",
+      "grasp(ball)",
+      "pick_up(ball)",
+      "move_to(none, racket)",
+      "place(ball, none)"
+    ],
+    "gt_dag": {
+      "move_to(ball, racket)": [],
+      "grasp(ball)": [],
+      "pick_up(ball)": [],
+      "move_to(none, racket)": [],
+      "place(ball, none)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_84559.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84807",
+    "actions_list": [
+      "move_to(none, pen)",
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen, pen_holder)",
+      "place(pen, pen_holder)",
+      "grasp(pen_holder)",
+      "pick_up(pen_holder)",
+      "move_to(pen_holder, bag)",
+      "place(pen_holder, bag)",
+      "grasp(laptop)",
+      "turn(laptop, down, screen_attach_keyboard)"
+    ],
+    "gt_dag": {
+      "move_to(none, pen)": [
+        "grasp(pen)"
+      ],
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen, pen_holder)"
+      ],
+      "move_to(pen, pen_holder)": [
+        "place(pen, pen_holder)"
+      ],
+      "place(pen, pen_holder)": [
+        "grasp(pen_holder)"
+      ],
+      "grasp(pen_holder)": [
+        "pick_up(pen_holder)"
+      ],
+      "pick_up(pen_holder)": [
+        "move_to(pen_holder, bag)"
+      ],
+      "move_to(pen_holder, bag)": [
+        "place(pen_holder, bag)"
+      ],
+      "place(pen_holder, bag)": [
+        "grasp(laptop)"
+      ],
+      "grasp(laptop)": [
+        "turn(laptop, down, screen_attach_keyboard)"
+      ],
+      "turn(laptop, down, screen_attach_keyboard)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_84807.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85145",
+    "actions_list": [
+      "move_to(none, orange_cup)",
+      "grasp(orange_cup)",
+      "pick_up(orange_cup)",
+      "move_to(orange_cup, tray)",
+      "pour(orange_cup, unknown, tray)",
+      "move_to(orange_cup, table)",
+      "place(orange_cup, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, orange_cup)": [
+        "grasp(orange_cup)"
+      ],
+      "grasp(orange_cup)": [
+        "pick_up(orange_cup)"
+      ],
+      "pick_up(orange_cup)": [
+        "move_to(orange_cup, tray)"
+      ],
+      "move_to(orange_cup, tray)": [
+        "pour(orange_cup, unknown, tray)"
+      ],
+      "pour(orange_cup, unknown, tray)": [
+        "move_to(orange_cup, table)"
+      ],
+      "move_to(orange_cup, table)": [
+        "place(orange_cup, table)"
+      ],
+      "place(orange_cup, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_85145.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85303",
+    "actions_list": [
+      "move_to(none, spoon)",
+      "grasp(spoon)",
+      "pick_up(spoon)",
+      "move_to(spoon, bowl)",
+      "scoop(spoon, unknown , bowl)",
+      "move_to(spoon, jug)",
+      "pour(spoon, unknown , jug)",
+      "move_to(spoon, table)",
+      "place(spoon, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, spoon)": [
+        "grasp(spoon)"
+      ],
+      "grasp(spoon)": [
+        "pick_up(spoon)"
+      ],
+      "pick_up(spoon)": [
+        "move_to(spoon, bowl)"
+      ],
+      "move_to(spoon, bowl)": [
+        "scoop(spoon, unknown , bowl)"
+      ],
+      "scoop(spoon, unknown , bowl)": [
+        "move_to(spoon, jug)"
+      ],
+      "move_to(spoon, jug)": [
+        "pour(spoon, unknown , jug)"
+      ],
+      "pour(spoon, unknown , jug)": [
+        "move_to(spoon, table)"
+      ],
+      "move_to(spoon, table)": [
+        "place(spoon, table)"
+      ],
+      "place(spoon, table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_85303.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85961",
+    "actions_list": [
+      "move_to(none,button_on_the_appliance)",
+      "grasp(button_on_the_appliance)",
+      "press(button_on_the_appliance)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "move_to(none, bowl)",
+      "place(fry, bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none,button_on_the_appliance)": [],
+      "grasp(button_on_the_appliance)": [],
+      "press(button_on_the_appliance)": [],
+      "grasp(bowl)": [],
+      "pick_up(bowl)": [],
+      "move_to(none, bowl)": [],
+      "place(fry, bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_85961.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86449",
+    "actions_list": [
+      "move_to(none, box)",
+      "grasp(box)",
+      "pick_up(box)",
+      "move_to(box, books)",
+      "place(box, books)"
+    ],
+    "gt_dag": {
+      "move_to(none, box)": [
+        "grasp(box)"
+      ],
+      "grasp(box)": [
+        "pick_up(box)"
+      ],
+      "pick_up(box)": [
+        "move_to(box, books)"
+      ],
+      "move_to(box, books)": [
+        "place(box, books)"
+      ],
+      "place(box, books)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_86449.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86481",
+    "actions_list": [
+      "move_to(,nonestuffed_animal)",
+      "grasp(stuffed_animal)",
+      "pick_up(stuffed_animal)",
+      "move_to(stuffed_animal, middle_of_table)",
+      "place(stuffed_animal, middle_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(,nonestuffed_animal)": [
+        "grasp(stuffed_animal)"
+      ],
+      "grasp(stuffed_animal)": [
+        "pick_up(stuffed_animal)"
+      ],
+      "pick_up(stuffed_animal)": [
+        "move_to(stuffed_animal, middle_of_table)"
+      ],
+      "move_to(stuffed_animal, middle_of_table)": [
+        "place(stuffed_animal, middle_of_table)"
+      ],
+      "place(stuffed_animal, middle_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_86481.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_87874",
+    "actions_list": [
+      "move_to(none, tap)",
+      "grasp(tap)",
+      "turn(tap, anticlockwise, right_side_of_sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, tap)": [
+        "grasp(tap)"
+      ],
+      "grasp(tap)": [
+        "turn(tap, anticlockwise, right_side_of_sink)"
+      ],
+      "turn(tap, anticlockwise, right_side_of_sink)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_87874.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_89525",
+    "actions_list": [
+      "grasp(jeans)",
+      "fold(left_side_of_jeans, right_side_of_jeans)",
+      "unfold(right_side_of_jeans, left_side_of_jeans)"
+    ],
+    "gt_dag": {
+      "grasp(jeans)": [
+        "fold(left_side_of_jeans, right_side_of_jeans)"
+      ],
+      "fold(left_side_of_jeans, right_side_of_jeans)": [
+        "unfold(right_side_of_jeans, left_side_of_jeans)"
+      ],
+      "unfold(right_side_of_jeans, left_side_of_jeans)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_89525.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_90987",
+    "actions_list": [
+      "grasp(pen)",
+      "pick_up(pen)",
+      "move_to(pen, cup)",
+      "place(pen, cup)",
+      "move_to(none, notebook)",
+      "grasp(notebook)",
+      "turn(notebook, anticlockwise, spread_flat_on_table)"
+    ],
+    "gt_dag": {
+      "grasp(pen)": [
+        "pick_up(pen)"
+      ],
+      "pick_up(pen)": [
+        "move_to(pen, cup)"
+      ],
+      "move_to(pen, cup)": [
+        "place(pen, cup)"
+      ],
+      "place(pen, cup)": [
+        "move_to(none, notebook)"
+      ],
+      "move_to(none, notebook)": [
+        "grasp(notebook)"
+      ],
+      "grasp(notebook)": [
+        "turn(notebook, anticlockwise, spread_flat_on_table)"
+      ],
+      "turn(notebook, anticlockwise, spread_flat_on_table)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_90987.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91353",
+    "actions_list": [
+      "move_to(none, knife)",
+      "grasp(knife)",
+      "pick_up(knife)",
+      "move_to(knife, green_plate)",
+      "place(knife, green_plate)",
+      "move_to(none, pink_plate)",
+      "grasp(pink_plate)",
+      "pick_up(pink_plate)",
+      "move_to(pink_plate, dish _rack)",
+      "place(pink_plate, dish _rack)"
+    ],
+    "gt_dag": {
+      "move_to(none, knife)": [
+        "grasp(knife)"
+      ],
+      "grasp(knife)": [
+        "pick_up(knife)"
+      ],
+      "pick_up(knife)": [
+        "move_to(knife, green_plate)"
+      ],
+      "move_to(knife, green_plate)": [
+        "place(knife, green_plate)"
+      ],
+      "place(knife, green_plate)": [
+        "move_to(none, pink_plate)"
+      ],
+      "move_to(none, pink_plate)": [
+        "grasp(pink_plate)"
+      ],
+      "grasp(pink_plate)": [
+        "pick_up(pink_plate)"
+      ],
+      "pick_up(pink_plate)": [
+        "move_to(pink_plate, dish _rack)"
+      ],
+      "move_to(pink_plate, dish _rack)": [
+        "place(pink_plate, dish _rack)"
+      ],
+      "place(pink_plate, dish _rack)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_91353.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91403",
+    "actions_list": [
+      "grasp(banana)",
+      "pick_up(banana)",
+      "move_to(banana, plate)",
+      "place(banana, plate)",
+      "grasp(pear)",
+      "pick_up(pear)",
+      "move_to(pear, plate)",
+      "place(pear, plate)"
+    ],
+    "gt_dag": {
+      "grasp(banana)": [
+        "pick_up(banana)"
+      ],
+      "pick_up(banana)": [
+        "move_to(banana, plate)"
+      ],
+      "move_to(banana, plate)": [
+        "place(banana, plate)"
+      ],
+      "place(banana, plate)": [],
+      "grasp(pear)": [
+        "pick_up(pear)"
+      ],
+      "pick_up(pear)": [
+        "move_to(pear, plate)"
+      ],
+      "move_to(pear, plate)": [
+        "place(pear, plate)"
+      ],
+      "place(pear, plate)": []
+    },
+    "v2": "3_generalized_planning_cross_embodiment_single_arm_images_rtx_frames__new_85_85_droid#episode_91403.png"
+  }
+]
\ No newline at end of file
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+    "task_type": [
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+      "cross_embodiment",
+      "single_arm"
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a mouse on the mousepad> as the goal, steps so far are shown in the video, is step 2-grasp(mouse) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
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+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_1434_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a mouse and place it on a mouse pad> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mouse)",
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+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a mouse and place it on a mouse pad> as the goal, steps so far are shown in the video, is step 1-move_to(none, mouse) finished?",
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+    "image_urls": [
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+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a mouse on the mouse pad> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mouse)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
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+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a mouse on the mouse pad> as the goal, steps so far are shown in the video, is step 2-grasp(mouse) finished?",
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+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_arrange_mouse_16_env_4_object_episode_6501_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a mouse on the mouse pad> as the goal, steps so far are shown in the video, is step 1-move_to(none, mouse) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
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+    "robotic_type": "single-arm",
+    "question": "With <place a mouse on a mouse pad> as the goal, steps so far are shown in the video, what is the next step to do?",
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+      "cross_embodiment",
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a mouse on a mouse pad> as the goal, steps so far are shown in the video, is step 3-pick_up(mouse) finished?",
+    "gt_answer": "yes",
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+      "frame_00.png",
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+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_661_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_edge_of_towel),2-grasp(left_edge_of_towel),3-fold(left_edge_of_towel, right_side_of_towel)",
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+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_661_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(left_edge_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
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+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_661_Q3",
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+      "3_generalized_planning",
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+      "single_arm"
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+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_edge_of_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
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+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_811_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_edge_of_towel),2-grasp(left_edge_of_towel),3-fold(left_edge_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_811_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(left_edge_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_811_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, is step 2-grasp(left_edge_of_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_938_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_edge_of_towel),2-grasp(left_edge_of_towel),3-fold(left_edge_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_938_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(left_edge_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_938_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_edge_of_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1156_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_edge_of_towel),2-grasp(left_edge_of_towel),3-fold(left_edge_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1156_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(left_edge_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1156_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, is step 2-grasp(left_edge_of_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1658_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_edge_of_towel),2-grasp(left_edge_of_towel),3-fold(left_edge_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1658_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_edge_of_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1704_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_edge_of_towel),2-grasp(left_edge_of_towel),3-fold(left_edge_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1704_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(left_edge_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_fold_towel_episode_1704_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, is step 2-grasp(left_edge_of_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_21_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring a drink into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, drink_bottle),2-grasp(drink_bottle),3-pick_up(drink_bottle),4-move_to(drink_bottle, cup),5-pour(drink_bottle, drink, cup),6-move_to(drink_bottle, table),7-place(drink_bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_21_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring a drink into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(drink_bottle, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_21_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring a drink into a cup> as the goal, steps so far are shown in the video, is step 4-move_to(drink_bottle, cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_1881_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, cup),5-pour(bottle, water , cup),6-move_to(bottle, table),7-place(bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_1881_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_1881_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water into a cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_2016_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring drink into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, drink_bottle),2-grasp(drink_bottle),3-pick_up(drink_bottle),4-move_to(bottle, cup),5-pour(bottle, drink , cup),6-move_to(bottle, table),7-place(bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_2016_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring drink into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(drink_bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_2016_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring drink into a cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, drink_bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_2065_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, cup),5-pour(bottle, water , cup),6-move_to(bottle, table),7-place(bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_2065_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_2065_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water into a cup> as the goal, steps so far are shown in the video, is step 4-move_to(bottle, cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_3235_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water into a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, cup),5-pour(bottle, water , cup),6-move_to(bottle, table),7-place(bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_3235_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(bottle, cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/DSL_shrinked_pour_water_episode_3235_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water into a cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_79_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a stuffed toy from a pink bowl to a gray bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, stuffed_toy),2-grasp(stuffed_toy),3-pick_up(stuffed_toy),4-move_to(stuffed_toy, gray_bowl),5-place(stuffed_toy, gray_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_79_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a stuffed toy from a pink bowl to a gray bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(stuffed_toy)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_79_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a stuffed toy from a pink bowl to a gray bowl> as the goal, steps so far are shown in the video, is step 2-grasp(stuffed_toy) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_106_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a stuffed toy from the pink bowl to the gray bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(stuffed_toy, gray_bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_106_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a stuffed toy from the pink bowl to the gray bowl> as the goal, steps so far are shown in the video, is step 3-pick_up(stuffed_toy) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_230_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a stuffed toy from a pink bowl to a gray bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, stuffed_toy),2-grasp(stuffed_toy),3-pick_up(stuffed_toy),4-move_to(stuffed_toy, gray_bowl),5-place(stuffed_toy, gray_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_230_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a stuffed toy from a pink bowl to a gray bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, stuffed_toy) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_416_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the plush toy from the red bowl to the grey bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, plush _toy) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_434_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the plush toy from the left bowl to the right bowl> as the goal, steps so far are shown in the video, is step 2-grasp(plush_toy) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_691_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the plush toy from the red bowl to the gray bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(plush_toy)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_691_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the plush toy from the red bowl to the gray bowl> as the goal, steps so far are shown in the video, is step 2-grasp(plush_toy) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_781_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the plush toy from the red bowl to the gray bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(plush_toy)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_20_43_berkeley_autolab_ur5#episode_781_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the plush toy from the red bowl to the gray bowl> as the goal, steps so far are shown in the video, is step 3-pick_up(plush_toy) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10236_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <relocate a cloth to the bottom middle of the tabletop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pull(cloth, bottom_middle_of_the_tabletop),4-place(cloth, tabletop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10236_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <relocate a cloth to the bottom middle of the tabletop> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10236_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <relocate a cloth to the bottom middle of the tabletop> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10342_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a saucepan on a green cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(saucepan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10342_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a saucepan on a green cloth> as the goal, steps so far are shown in the video, is step 2-grasp(saucepan) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10418_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the spoon in the lower right corner of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spoon_handle),2-grasp(spoon_handle),3-pick_up(spoon),4-move_to(spoon , the_lower_right_corner_of_the_table),5-place(spoon , the_lower_right_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10418_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the spoon in the lower right corner of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_2_49_bridge#episode_10418_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the spoon in the lower right corner of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_10975_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <repositioning a spoon to the right edge of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, right_edge_of_the_table),5-place(spoon, right_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_10975_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <repositioning a spoon to the right edge of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_10975_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <repositioning a spoon to the right edge of the table> as the goal, steps so far are shown in the video, is step 3-pick_up(spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11760_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a mushroom to the front edge of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, mushroom),2-grasp(mushroom),3-pick_up(mushroom),4-move_to(mushroom, front_edge_of_the_table),5-place(mushroom, front_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_3_49_bridge#episode_11760_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a mushroom to the front edge of the table> as the goal, steps so far are shown in the video, is step 2-grasp(mushroom) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1302_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a chili into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(chili)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_1302_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a chili into a pot> as the goal, steps so far are shown in the video, is step 2-grasp(chili) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12418_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a French fries into a pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(French_fries)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12418_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a French fries into a pan> as the goal, steps so far are shown in the video, is step 2-grasp(French_fries) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12585_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the sausage to the left of the spoon> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, sausage),2-grasp(sausage),3-pick_up(sausage),4-move_to(sausage, the_left_of_the_spoon),5-place(sausage, the_left_of_the_spoon)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12585_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the sausage to the left of the spoon> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(sausage)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12585_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the sausage to the left of the spoon> as the goal, steps so far are shown in the video, is step 2-grasp(sausage) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12946_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a metal pot in front of the mushroom> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pot),2-grasp(pot),3-pick_up(pot),4-move_to(pot,  in_front_of_the_mushroom),5-place(pot, in_front_of_the_mushroom)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12946_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a metal pot in front of the mushroom> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_12946_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a metal pot in front of the mushroom> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13324_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a bowl near the bottom of a spoon> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, bottom_of_the_spoon),5-place(bowl, bottom_of_the_spoon)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13324_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a bowl near the bottom of a spoon> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13324_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a bowl near the bottom of a spoon> as the goal, steps so far are shown in the video, is step 1-move_to(none, bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13403_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a mushroom and place it on a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(mushroom, cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13403_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a mushroom and place it on a cloth> as the goal, steps so far are shown in the video, is step 2-grasp(mushroom) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13410_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the pot in the middle of the bottom of the tabletop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pot),2-grasp(pot),3-pick_up(pot),4-move_to(pot, bottom_of_the_tabletop),5-place(pot, bottom_of_the_tabletop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13410_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the pot in the middle of the bottom of the tabletop> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(pot, bottom_of_the_tabletop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_4_49_bridge#episode_13410_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the pot in the middle of the bottom of the tabletop> as the goal, steps so far are shown in the video, is step 2-grasp(pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_13753_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a turkey leg on a purple cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, turkey_leg) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_13812_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the sushi into the pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, sushi) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14334_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing corn into a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(corn)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14334_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing corn into a bowl> as the goal, steps so far are shown in the video, is step 2-grasp(corn) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14521_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a spoon onto a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spoon, towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14521_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a spoon onto a towel> as the goal, steps so far are shown in the video, is step 3-pick_up(spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14536_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <sliding a rag next to a fork> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, rag),2-grasp(rag),3-pull(rag,next_to_the_blue_fork),4-place(rag, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14536_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <sliding a rag next to a fork> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(rag)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14536_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <sliding a rag next to a fork> as the goal, steps so far are shown in the video, is step 2-grasp(rag) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14748_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a brush onto a towel> as the goal, steps so far are shown in the video, is step 2-grasp(brush) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14769_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the spatula on the towel> as the goal, steps so far are shown in the video, is step 2-grasp(spatula) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_14958_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the chili onto the cloth> as the goal, steps so far are shown in the video, is step 2-grasp(chili) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_15082_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving cloth  to the left edge of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pull(cloth, left_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_15082_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving cloth  to the left edge of a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(cloth, left_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_5_49_bridge#episode_15082_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving cloth  to the left edge of a table> as the goal, steps so far are shown in the video, is step 2-grasp(cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1566_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a spoon in front of the microwave> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, in_front_of_the_microwave),5-place(spoon,  in_front_of_the_microwave)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1566_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a spoon in front of the microwave> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spoon, in_front_of_the_microwave)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1566_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a spoon in front of the microwave> as the goal, steps so far are shown in the video, is step 3-pick_up(spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1609_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a pot in front of a yellow towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pot),2-grasp(pot),3-pick_up(pot),4-move_to(pot, in_front_of_a_yellow_towel),5-place(pot, in_front_of_a_yellow_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1609_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a pot in front of a yellow towel> as the goal, steps so far are shown in the video, is step 2-grasp(pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1610_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a pot to the bottom left corner of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pot),2-grasp(pot),3-pick_up(pot),4-move_to(pot, bottom_left_corner_of_the_table),5-place(pot, bottom_left_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1610_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a pot to the bottom left corner of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_1610_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a pot to the bottom left corner of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_15473_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving a spatula from a pot and placing it on right edge of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spatula),2-grasp(spatula),3-pick_up(spatula),4-move_to(spatula, right_edge_of_the_table),5-place(spatula, right_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_15473_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving a spatula from a pot and placing it on right edge of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, spatula) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_16026_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cauliflower to the left edge of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cauliflower),2-grasp(cauliflower),3-pick_up(cauliflower),4-move_to(cauliflower, left_edge_of_the_table),5-place(cauliflower, left_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_16026_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cauliflower to the left edge of a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(cauliflower, left_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_6_49_bridge#episode_16026_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cauliflower to the left edge of a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, cauliflower) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_1733_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the spoon on the blue cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_1733_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the spoon on the blue cloth> as the goal, steps so far are shown in the video, is step 2-grasp(spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16744_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the bottle behind the cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, behind_the_cloth),5-place(bottle, behind_the_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16744_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the bottle behind the cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_16744_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the bottle behind the cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_17256_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a metal pot onto a purple cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_17256_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a metal pot onto a purple cloth> as the goal, steps so far are shown in the video, is step 3-pick_up(pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_17815_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the can in the top right corner of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, can),2-grasp(can),3-pick_up(can),4-move_to(can , top_right_corner_of_the_table),5-place(can , top_right_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_17815_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the can in the top right corner of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(can, top_right_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_7_49_bridge#episode_17815_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the can in the top right corner of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, can) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_1926_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a pumpkin from a bowl to the bottom left corner of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pumpkin),2-grasp(pumpkin),3-pick_up(pumpkin),4-move_to(pumpkin, bottom left corner of the table),5-place(pumpkin, bottom left corner of the table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_1926_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a pumpkin from a bowl to the bottom left corner of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(pumpkin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_1926_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a pumpkin from a bowl to the bottom left corner of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, pumpkin) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18084_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18084_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, lid_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18185_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the mushroom in front of the microwave> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, mushroom),2-grasp(mushroom),3-pick_up(mushroom),4-move_to(mushroom, in_front_of_the_microwave),5-place(mushroom, in_front_of_the_microwave)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18185_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the mushroom in front of the microwave> as the goal, steps so far are shown in the video, is step 2-grasp(mushroom) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18257_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a low cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door),2-grasp(cabinet_door),3-push(cabinet_door, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18257_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a low cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(cabinet_door, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18257_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a low cabinet door> as the goal, steps so far are shown in the video, is step 2-grasp(cabinet_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18382_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a carrot onto a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(carrot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18382_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a carrot onto a plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, carrot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_18400_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a chicken leg into a basin> as the goal, steps so far are shown in the video, is step 1-move_to(none, chicken_leg) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19131_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the pot on the cloth on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pot),2-grasp(pot),3-pick_up(pot),4-move_to(pot, table),5-place(pot, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19131_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the pot on the cloth on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_8_49_bridge#episode_19131_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the pot on the cloth on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_1974_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a brush behind a pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, brush),2-grasp(brush),3-pick_up(brush),4-move_to(brush, behind_the_pan),5-place(brush, behind_the_pan)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_1974_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a brush behind a pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(brush, behind_the_pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_1974_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a brush behind a pan> as the goal, steps so far are shown in the video, is step 3-pick_up(brush) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_2050_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a shrimp into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(shrimp, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_2050_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a shrimp into a pot> as the goal, steps so far are shown in the video, is step 3-pick_up(shrimp) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19390_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a chicken leg into a pot> as the goal, steps so far are shown in the video, is step 3-pick_up(chicken_leg) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19394_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a carrot into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, carrot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19836_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a spoon from a bowl to the right edge of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, right_edge_of_the_table),5-place(spoon, right_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19836_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a spoon from a bowl to the right edge of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spoon, right_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_19836_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a spoon from a bowl to the right edge of the table> as the goal, steps so far are shown in the video, is step 2-grasp(spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20144_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a banana into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, banana) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20182_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a metal pot next to a spoon> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(pot, next_to_a_spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20182_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a metal pot next to a spoon> as the goal, steps so far are shown in the video, is step 3-pick_up(pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20302_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a mushroom between a pot and a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, mushroom),2-grasp(mushroom),3-pick_up(mushroom),4-move_to(mushroom, between_pot_and_cloth),5-place(mushroom, between_pot_and_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20302_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a mushroom between a pot and a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mushroom)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20302_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a mushroom between a pot and a cloth> as the goal, steps so far are shown in the video, is step 2-grasp(mushroom) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20487_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a brush behind a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none , brush),2-grasp(brush),3-pick_up(brush),4-move_to(brush, behind_the_pot),5-place(brush, behind_the_pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_9_49_bridge#episode_20487_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a brush behind a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, brush) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_20952_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cloth to the top right corner of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pull(cloth, top_right_corner_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_20952_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cloth to the top right corner of a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21190_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the chicken leg in front of the oven> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, chicken_leg),2-grasp(chicken_leg),3-pick_up(chicken_leg),4-move_to(chicken_leg, in_front_of_the_oven),5-place(chicken_leg, in_front_of_the_oven)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21190_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the chicken leg in front of the oven> as the goal, steps so far are shown in the video, is step 2-grasp(chicken_leg) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21309_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the cloth to the left side of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pull(cloth, left_edge_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21309_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the cloth to the left side of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21309_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the cloth to the left side of the table> as the goal, steps so far are shown in the video, is step 2-grasp(cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21392_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a sushi to the bottom right corner of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, sushi),2-grasp(sushi),3-pick_up(sushi),4-move_to(sushi, bottom_right_corner_of_the_table),5-place(sushi, bottom_right_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21392_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a sushi to the bottom right corner of a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(sushi, bottom_right_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21392_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a sushi to the bottom right corner of a table> as the goal, steps so far are shown in the video, is step 3-pick_up(sushi) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21825_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the toy behind a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, toy),2-grasp(toy),3-pick_up(toy),4-move_to(toy, behind_the_pot),5-place(toy, behind_the_pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21825_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the toy behind a pot> as the goal, steps so far are shown in the video, is step 2-grasp(toy) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21946_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cleaning brush to a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cleaning_brush),2-grasp(cleaning_brush),3-pick_up(cleaning_brush),4-move_to(brush, cloth),5-place(brush, cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_21946_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cleaning brush to a cloth> as the goal, steps so far are shown in the video, is step 3-pick_up(cleaning_brush) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_22123_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move an avocado next to a spatula> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, avocado),2-grasp(avocado),3-pick_up(avocado),4-move_to(avocado, next_to_spatula),5-place(avocado, next_to_spatula)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_22123_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move an avocado next to a spatula> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(avocado)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_10_49_bridge#episode_22123_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move an avocado next to a spatula> as the goal, steps so far are shown in the video, is step 2-grasp(avocado) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22243_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pan on the left stove and a stuffed duck into the pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, pan),2-grasp(pan),3-pick_up(pan),4-move_to(pan , left_stove),5-place(pan, left_stove),6-move_to(none, stuffed_duck),7-grasp(stuffed_duck),8-pick_up(stuffed_duck),9-move_to(stuffed_duck, pan),10-place(stuffed_duck, pan)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22243_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pan on the left stove and a stuffed duck into the pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22243_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pan on the left stove and a stuffed duck into the pan> as the goal, steps so far are shown in the video, is step 2-grasp(pan) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22408_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cloth between a pot and a spoon> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pull(cloth, between_pot_and_spoon)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22408_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cloth between a pot and a spoon> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(cloth, between_pot_and_spoon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22408_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cloth between a pot and a spoon> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_22841_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a broccoli into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, broccoli) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_23004_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the sushi on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(sushi, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_23004_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the sushi on the table> as the goal, steps so far are shown in the video, is step 3-pick_up(sushi) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_23521_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing sushi onto a cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, sushi) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_23578_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a spoon onto a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spoon, cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_11_49_bridge#episode_23578_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a spoon onto a cloth> as the goal, steps so far are shown in the video, is step 3-pick_up(spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_2435_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a spatula on a cloth> as the goal, steps so far are shown in the video, is step 2-grasp(spatula) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_23784_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a mushroom onto a towel> as the goal, steps so far are shown in the video, is step 2-grasp(mushroom) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_23829_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a can in front of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, can),2-grasp(can),3-pull(can,in_front_of_the_tabletop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_23829_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a can in front of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_23829_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a can in front of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, can) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_23876_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the blue cloth in the washing machine> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(blue_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_23876_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the blue cloth in the washing machine> as the goal, steps so far are shown in the video, is step 1-move_to(none, blue_cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24152_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cucumber into a pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cucumber)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24152_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cucumber into a pan> as the goal, steps so far are shown in the video, is step 2-grasp(cucumber) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24313_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a metal pot onto a blue cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pot),2-grasp(pot),3-pick_up(pot),4-move_to(pot, blue_cloth),5-place(pot, blue_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24313_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a metal pot onto a blue cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24408_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a duck into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(duck)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_12_49_bridge#episode_24408_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a duck into a pot> as the goal, steps so far are shown in the video, is step 2-grasp(duck) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_2656_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the plush toy on the towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(plush_toy)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_2656_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the plush toy on the towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, plush_toy) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_3150_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a mushroom and place it into a pan> as the goal, steps so far are shown in the video, is step 1-move_to(none, mushroom) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_3303_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a block of cheese from a cloth to a pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cheese)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_3303_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a block of cheese from a cloth to a pan> as the goal, steps so far are shown in the video, is step 2-grasp(cheese) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_25346_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pan on the left stove and then placing a stuffed pig in the pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_13_49_bridge#episode_25346_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pan on the left stove and then placing a stuffed pig in the pan> as the goal, steps so far are shown in the video, is step 3-pick_up(pan) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_3800_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a pot on the left stove and put a potato in the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none , pan),2-grasp(pan),3-pick_up(pan),4-move_to(pan, left_stove),5-place(pan, left_stove),6-move_to(none, potato),7-grasp(potato),8-pick_up(potato),9-move_to(potato, pot),10-place(potato, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_3800_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a pot on the left stove and put a potato in the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, potato)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_3800_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a pot on the left stove and put a potato in the pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, pan) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4037_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place an apple on a plate and a croissant in a pot on a stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none , apple),2-grasp(apple),3-pick_up(apple),4-move_to(apple, plate),5-place(apple, plate),6-move_to(none , croissant),7-grasp(croissant),8-pick_up(croissant),9-move_to(croissant, pot),10-place(croissant, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4037_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place an apple on a plate and a croissant in a pot on a stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(apple, plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4037_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place an apple on a plate and a croissant in a pot on a stove> as the goal, steps so far are shown in the video, is step 4-move_to(apple, plate) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4476_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a lemon on a purple towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(lemon)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4476_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a lemon on a purple towel> as the goal, steps so far are shown in the video, is step 2-grasp(lemon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4596_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the spoon to the right of the broccoli> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon,  right_of_the_broccoli),5-place(spoon, right_of_the_broccoli)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4596_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the spoon to the right of the broccoli> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spoon, right_of_the_broccoli)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4596_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the spoon to the right of the broccoli> as the goal, steps so far are shown in the video, is step 3-pick_up(spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4992_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move a piece of cloth to the middle of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pull(cloth, middle_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_14_49_bridge#episode_4992_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move a piece of cloth to the middle of the table> as the goal, steps so far are shown in the video, is step 2-grasp(cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_61_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <relocate a pot to the right of a spoon> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_61_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <relocate a pot to the right of a spoon> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_522_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a knife onto a cutting board> as the goal, steps so far are shown in the video, is step 1-move_to(none, knife) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5438_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move plush toy to the under of a knife> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, plush_toy),2-grasp(plush_toy),3-pick_up(plush_toy),4-move_to(plush_toy, under_of_knife),5-place(plush_toy, under_of_knife)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5438_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move plush toy to the under of a knife> as the goal, steps so far are shown in the video, is step 2-grasp(plush_toy) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5503_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up the spatula and move it to the right of the corn> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spatula),2-grasp(spatula),3-pick_up(spatula),4-move_to(spatula, right_of _corn),5-place(spatula, right_of _corn)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5503_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up the spatula and move it to the right of the corn> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spatula, right_of _corn)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5503_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up the spatula and move it to the right of the corn> as the goal, steps so far are shown in the video, is step 1-move_to(none, spatula) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_5564_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a banana into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, banana) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_6257_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the corn on the orange cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, corn) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_6401_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a sushi roll into a small pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, sushi_roll),2-grasp(sushi_roll),3-pick_up(sushi_roll),4-move_to(sushi_roll, pot),5-place(sushi_roll, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_6401_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a sushi roll into a small pot> as the goal, steps so far are shown in the video, is step 2-grasp(sushi_roll) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_15_49_bridge#episode_6491_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move a carrot from the bowl to the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, carrot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_6930_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a towel next to the bottom right corner of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none , towel),2-grasp(towel),3-pull(towel, bottom_right_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_6930_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a towel next to the bottom right corner of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_6930_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a towel next to the bottom right corner of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7051_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing the broccoli onto a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, broccoli),2-grasp(broccoli),3-pick_up(broccoli),4-move_to(vegetable, cloth),5-place(vegetable, cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7490_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a red cone to the bottom right corner of a wooden table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, red_cone),2-grasp(red_cone),3-pick_up(red_cone),4-move_to(red_cone, bottom_right_corner_of_the_table),5-place(red_cone, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7490_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a red cone to the bottom right corner of a wooden table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(red_cone)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_16_49_bridge#episode_7490_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a red cone to the bottom right corner of a wooden table> as the goal, steps so far are shown in the video, is step 2-grasp(red_cone) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_8131_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing chocolate on a plate and an apple in a pot on a stove> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, chocolate),2-grasp(chocolate),3-pick_up(chocolate),4-move_to(chocolate, plate),5-place(chocolate, plate),6-move_to(none, apple),7-grasp(apple),8-pick_up(apple),9-move_to(apple, pot),10-place(apple, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_8131_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing chocolate on a plate and an apple in a pot on a stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, apple)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_8131_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing chocolate on a plate and an apple in a pot on a stove> as the goal, steps so far are shown in the video, is step 2-grasp(chocolate) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_8643_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up the plush toy and place it on the yellow cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, plush_toy) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_17_49_bridge#episode_9216_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move the shrimp over the yellow cloth> as the goal, steps so far are shown in the video, is step 2-grasp(shrimp) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9457_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a knife to the left of a croissant> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, knife),2-grasp(knife),3-pick_up(knife),4-move_to(knife, left_of_the_croissant),5-place(knife, left_of_the_croissant)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9457_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a knife to the left of a croissant> as the goal, steps so far are shown in the video, is step 1-move_to(none, knife) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9554_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a brush behind a pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, brush),2-grasp(brush),3-pick_up(brush),4-move_to(brush, pan),5-place(brush, pan)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9566_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a onion into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, onion) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9767_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a carrot into a pot> as the goal, steps so far are shown in the video, is step 2-grasp(carrot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9868_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a can to the back of a counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, can),2-grasp(can),3-pull(can, back_of_the_counter),4-place(can, back_of_the_counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_18_49_bridge#episode_9868_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a can to the back of a counter> as the goal, steps so far are shown in the video, is step 1-move_to(none, can) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_10198_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cloth next to cans> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-pull(cloth, next_to_cans)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_10198_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cloth next to cans> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11002_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the red cloth in the basket> as the goal, steps so far are shown in the video, is step 1-move_to(none, red_cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11093_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <repositioning a spatula between a cloth and a knife> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spatula),2-grasp(spatula),3-pick_up(spatula),4-move_to(spatula, between_cloth_and_knife),5-place(spatula, between_cloth_and_knife)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11093_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <repositioning a spatula between a cloth and a knife> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(spatula)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11093_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <repositioning a spatula between a cloth and a knife> as the goal, steps so far are shown in the video, is step 1-move_to(none, spatula) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11305_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing an oven door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, oven_door_handle),2-grasp(oven_door_handle),3-push(oven_door,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_11305_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing an oven door> as the goal, steps so far are shown in the video, is step 2-grasp(oven_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12387_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot on the left stove and adding a potato to the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, potato)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_12387_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pot on the left stove and adding a potato to the pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_13157_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a banana into a colander> as the goal, steps so far are shown in the video, is step 1-move_to(none, banana) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_55_68_bridge_data_v2#episode_13208_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the green cloth in the basket> as the goal, steps so far are shown in the video, is step 1-move_to(none, green_cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_15640_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a carrot into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, carrot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_16973_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a salt shaker on a plate and a ketchup bottle in a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, ketchup_bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_16973_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a salt shaker on a plate and a ketchup bottle in a pot> as the goal, steps so far are shown in the video, is step 5-place(salt_shaker, plate) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20248_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a knife to the lower left side of the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, knife),2-grasp(knife),3-pick_up(knife),4-move_to(knife, lower_left_side_of_the_sink),5-place(knife, lower_left_side_of_the_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20248_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a knife to the lower left side of the sink> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(knife, lower_left_side_of_the_sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20248_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a knife to the lower left side of the sink> as the goal, steps so far are shown in the video, is step 2-grasp(knife) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20350_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pan on the left stove and a stuffed duck into the pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, stuffed_duck)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_56_68_bridge_data_v2#episode_20350_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pan on the left stove and a stuffed duck into the pan> as the goal, steps so far are shown in the video, is step 3-pick_up(pan) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_2185_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the green cloth from the washing machine in the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, green_cloth_in_the_washing_machine),2-grasp(green_cloth_in_the_washing_machine),3-pick_up(green_cloth),4-move_to(green_cloth, basket),5-place(green_cloth, basket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_2185_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the green cloth from the washing machine in the basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(green_cloth_in_the_washing_machine)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_2185_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the green cloth from the washing machine in the basket> as the goal, steps so far are shown in the video, is step 2-grasp(green_cloth_in_the_washing_machine) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_20827_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a stuffed toy into a pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(stuffed_toy, pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_20827_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a stuffed toy into a pan> as the goal, steps so far are shown in the video, is step 2-grasp(stuffed_toy) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24878_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a mushroom in a pot and then putting the pot on the left stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(mushroom)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_24878_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a mushroom in a pot and then putting the pot on the left stove> as the goal, steps so far are shown in the video, is step 5-place(mushroom, pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_25059_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none,cabinet_door_handle),2-grasp(cabinet_door_handle),3-pull(cabinet_door,state_of_open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_25059_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(cabinet_door, state_of_open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_57_68_bridge_data_v2#episode_25059_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a cabinet> as the goal, steps so far are shown in the video, is step 1-move_to(none, cabinet_door_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_27672_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the sushi on the top right corner of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, sushi),2-grasp(sushi),3-pick_up(sushi),4-move_to(sushi,  top_right_corner_of_the_table),5-place(sushi,  top_right_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_27672_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the sushi on the top right corner of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, sushi) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_27906_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the sushi in the pot> as the goal, steps so far are shown in the video, is step 2-grasp(sushi) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_28515_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sweep the garbage on the table to the left with a broom> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, broom),2-grasp(broom),3-wipe(broom, garbage, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_28515_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sweep the garbage on the table to the left with a broom> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-wipe(broom, garbage, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_28515_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sweep the garbage on the table to the left with a broom> as the goal, steps so far are shown in the video, is step 1-move_to(none, broom) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29516_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the spoon between the two stoves> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, between_the_two_stoves),5-place(spoon, between_the_two_stoves)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_58_68_bridge_data_v2#episode_29516_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the spoon between the two stoves> as the goal, steps so far are shown in the video, is step 2-grasp(spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34421_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a banana into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, banana) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34446_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sweep the garbage on the table to the left with a broom> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, broom),2-grasp(broom),3-wipe(broom, garbage, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34446_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sweep the garbage on the table to the left with a broom> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(broom)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_59_68_bridge_data_v2#episode_34446_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sweep the garbage on the table to the left with a broom> as the goal, steps so far are shown in the video, is step 1-move_to(none, broom) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_389_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, top_left_corner_of_the_towel),2-grasp(top_left_corner_of_the_towel),3-fold(top_left_corner_of_the_cloth, bottom_left_corner_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_389_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(top_left_corner_of_the_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_389_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the towel> as the goal, steps so far are shown in the video, is step 1-move_to(none, top_left_corner_of_the_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3934_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a bottle on the left side of a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, left_side_of_the_cloth),5-place(bottle, left_side_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3934_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a bottle on the left side of a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_3934_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a bottle on the left side of a cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36527_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_door_handle),2-grasp(microwave_door_handle),3-pull(microwave_door, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36527_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(microwave_door, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_36527_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a microwave> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37049_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a potato into a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(potato)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37049_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a potato into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, potato) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37899_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a left cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_cabinet_door),2-grasp(left_cabinet_door),3-push(left_cabinet_door, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37899_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a left cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(left_cabinet_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_37899_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a left cabinet door> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_cabinet_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38275_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pear into a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(pear)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38275_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pear into a bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, pear) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38528_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, drawer_handle),2-grasp(drawer_handle),3-push(drawer, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38528_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38827_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door_handle),2-grasp(cabinet_door_handle),3-push(cabinet_door_handle, close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38827_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(cabinet_door_handle, close)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_38827_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the cabinet door> as the goal, steps so far are shown in the video, is step 2-grasp(cabinet_door_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_40347_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a low fridge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, lower_fridge_door_handle),2-grasp(lower_fridge_door_handle),3-pull(fridge_door, open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_40347_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a low fridge> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(fridge_door, open)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_60_68_bridge_data_v2#episode_40347_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening a low fridge> as the goal, steps so far are shown in the video, is step 1-move_to(none, lower_fridge_door_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_41634_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing broccoli into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, broccoli) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_41726_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the plastic ice cream on the bottom edge of the cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, plastic_ice_cream),2-grasp(plastic_ice_cream),3-pick_up(plastic_ice_cream),4-move_to(plastic_ice_cream, bottom_edge_of_the_cloth),5-place(plastic_ice_cream, bottom_edge_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_41726_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the plastic ice cream on the bottom edge of the cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, plastic_ice_cream) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_42884_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a knife on a cutting board> as the goal, steps so far are shown in the video, is step 1-move_to(none, knife) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43406_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, bottom_right_corner_of_the_cloth),2-grasp(bottom_right_corner),3-fold(bottom_right_corner, top_left_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43406_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(bottom_right_corner, top_left_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43406_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottom_right_corner_of_the_cloth) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43696_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing cauliflower on a plate and a cucumber in a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, cauliflower),2-grasp(cauliflower),3-pick_up(cauliflower),4-move_to(cauliflower, plate),5-place(cauliflower, plate),6-move_to(none, cucumber),7-grasp(cucumber),8-pick_up(cucumber),9-move_to(cucumber, pot),10-place(cucumber, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_43696_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing cauliflower on a plate and a cucumber in a pot> as the goal, steps so far are shown in the video, is step 5-place(cauliflower, plate) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_44799_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cucumber on a plate and cauliflower in a pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, cauliflower)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_61_68_bridge_data_v2#episode_44799_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cucumber on a plate and cauliflower in a pot> as the goal, steps so far are shown in the video, is step 4-move_to(cucumber, plate) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_4921_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take a carrot out of the pot and place it on the top left corner of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, carrot),2-grasp(carrot),3-pick_up(carrot),4-move_to(carrot, top_left_corner_of_the_table),5-place(carrot, top_left_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_4921_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take a carrot out of the pot and place it on the top left corner of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, carrot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_5075_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the cloth from the washing machine in the basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cloth_from_the_washing_machine)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_5075_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the cloth from the washing machine in the basket> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth_from_the_washing_machine) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45771_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sweep the garbage on the table to the left with a broom> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, broom),2-grasp(broom),3-wipe(broom, garbage, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45771_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Sweep the garbage on the table to the left with a broom> as the goal, steps so far are shown in the video, is step 1-move_to(none, broom) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45805_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <topple a metal pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, metal_pot),2-grasp(metal_pot),3-pick_up(metal_pot),4-turn(metal_pot, clockwise, parallel_to_the_desktop),5-place(metal_pot, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_45805_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <topple a metal pot> as the goal, steps so far are shown in the video, is step 3-pick_up(metal_pot) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_46984_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_door),2-grasp(microwave_door),3-push(microwave_door)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_46984_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_47681_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a cup onto a plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_47728_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, microwave_door),2-grasp(microwave_door_handle),3-push(microwave_door)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_47728_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(microwave_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_47728_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a microwave door> as the goal, steps so far are shown in the video, is step 2-grasp(microwave_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48213_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a onion into a metal pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, onion),2-grasp(onion),3-pick_up(onion),4-move_to(onion, pot),5-place(onion, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48213_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a onion into a metal pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(onion, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_62_68_bridge_data_v2#episode_48213_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a onion into a metal pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, onion) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_575_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a knife into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, knife) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_5702_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a knife into a pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, knife),2-grasp(knife),3-pick_up(knife),4-move_to(knife, pot),5-place(knife, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_5702_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a knife into a pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, knife) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_51076_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a piece of sushi onto a plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, sushi) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52666_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a sushi to the left side of a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, sushi),2-grasp(sushi),3-pick_up(sushi),4-move_to(sushi, left_side_of_the_cloth),5-place(sushi, left_side_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52666_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a sushi to the left side of a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(sushi)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52666_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a sushi to the left side of a cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, sushi) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52851_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <repositioning a pan between a spoon and a knife> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pan),2-grasp(pan),3-pick_up(pan),4-move_to(pan, between_spoon_and_the_knife),5-place(pan, between_spoon_and_the_knife)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52851_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <repositioning a pan between a spoon and a knife> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_63_68_bridge_data_v2#episode_52851_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <repositioning a pan between a spoon and a knife> as the goal, steps so far are shown in the video, is step 3-pick_up(pan) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8239_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the panda toy to the bottom left corner of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, panda_toy),2-grasp(panda_toy),3-pick_up(panda_toy),4-move_to(panda_toy, bottom_left_corner_of_the_table),5-place(panda_toy, bottom_left_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8239_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the panda toy to the bottom left corner of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(panda_toy, bottom_left_corner_of_the_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8239_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the panda toy to the bottom left corner of the table> as the goal, steps so far are shown in the video, is step 2-grasp(panda_toy) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8631_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(top_left_corner_of_the_cloth),3-fold(top_left_corner_of_the_cloth, bottom_right_corner_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8631_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(top_left_corner_of_the_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_68_bridge_data_v2#episode_8631_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a cloth> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_86_fanuc_manipulation_v2#episode_0_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a brush and placing it on a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, brush) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_64_86_fanuc_manipulation_v2#episode_402_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <push a cube to a target location marked by a cross> as the goal, steps so far are shown in the video, is step 1-move_to(none, cube) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_119_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the vegetable on the top plate and the white bag on the bottom plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(vegetable),2-grasp(vegetable),3-pick_up(vegetable),4-move_to(vegetable, top_plate),5-place(vegetable, top_plate),6-move_to(white_bag),7-grasp(white_bag),8-pick_up(white_bag),9-move_to(white_bag, bottom_plate),10-place(white_bag, bottom_plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_119_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the vegetable on the top plate and the white bag on the bottom plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(vegetable)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_119_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the vegetable on the top plate and the white bag on the bottom plate> as the goal, steps so far are shown in the video, is step 3-pick_up(vegetable) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_135_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <watering a plant and placing a watering can on a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, watering_can),2-grasp(watering_can),3-pick_up(watering_can),4-move_to(watering_can, plant),5-pour(watering_can, water , plant),6-move_to(watering_can, plate),7-place(watering_can, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_135_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <watering a plant and placing a watering can on a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(watering_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rt_frames_success_rtx_frames_success_35_61_qut_dexterous_manpulation#episode_135_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <watering a plant and placing a watering can on a plate> as the goal, steps so far are shown in the video, is step 4-move_to(watering_can, plant) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_334_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring a beverage from a can into a glass> as the goal, steps so far are shown in the video, is step 4-move_to(can, glass) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_712_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <making a cup stand upright> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-turn(cup , clockwise, perpendicular_to_the_table),5-place(cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_712_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <making a cup stand upright> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-turn(cup, clockwise, perpendicular_to_the_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_712_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <making a cup stand upright> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_951_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open the drawer and storing pineapple and banana a drawer and close the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer),3-pull(drawer),4-move_to(none,pineapple),5-grasp(pineapple),6-pick_up(pineapple),7-move_to(pineapple, drawer),8-place(pineapple, drawer),9-move_to(none,banana),10-grasp(banana),11-pick_up(banana),12-move_to(banana, drawer),13-place(banana, drawer),14-grasp(drawer),15-push(drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_951_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open the drawer and storing pineapple and banana a drawer and close the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-grasp(pineapple)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_951_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open the drawer and storing pineapple and banana a drawer and close the drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_1564_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a carrot plush toy into a pan> as the goal, steps so far are shown in the video, is step 1-move_to(none, carrot_plush_toy) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_1935_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pushing a bucket to the right side of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, bucket),2-grasp(bucket),3-push(bucket, right_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_1935_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pushing a bucket to the right side of the table> as the goal, steps so far are shown in the video, is step 2-grasp(bucket) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_2491_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving forks from a bowl to the counter and unstacking bowls> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, forks),2-grasp(forks),3-pick_up(forks),4-move_to(forks, counter),5-place(forks, counter),6-move_to(none, bowl_on_the_upper_level),7-grasp(bowl_on_the_upper_level),8-pick_up(bowl_on_the_upper_level),9-move_to(bowl_on_the_upper_level , table),10-place(bowl_on_the_upper_level , table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_2491_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving forks from a bowl to the counter and unstacking bowls> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "7-grasp(bowl_on_the_upper_level)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_2491_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving forks from a bowl to the counter and unstacking bowls> as the goal, steps so far are shown in the video, is step 3-pick_up(forks) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_3972_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the wooden spoon and stir in the bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, wooden_spoon),2-grasp(wooden_spoon),3-pick_up(wooden_spoon),4-move_to(spoon, bowl),5-stir(spoon, unknown , bowl),6-move_to(spoon, table),7-place(spoon, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_3972_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the wooden spoon and stir in the bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spoon, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_3972_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the wooden spoon and stir in the bowl> as the goal, steps so far are shown in the video, is step 3-pick_up(wooden_spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_3981_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker on a towel, fold the towel twice, and place the towel in a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-move_to(none,marker),2-grasp(marker),3-pick_up(marker),4-move_to(marker, towel),5-place(marker, towel),6-move_to(none , towel),7-grasp(right_side_of_towel),8-fold(right_side_of_towel, left_side_of_towel),9-grasp(bottom_side_of_towel),10-fold(bottom_side_of_towel, upper_side_of_towel),11-grasp(towel),12-pick_up(towel),13-move_to(towel, box),14-place(towel, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_3981_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker on a towel, fold the towel twice, and place the towel in a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(marker, towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_3981_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker on a towel, fold the towel twice, and place the towel in a box> as the goal, steps so far are shown in the video, is step 7-grasp(right_side_of_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4422_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the pink clothes on the right side of the table, place the white rope and radish doll on the left side of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, pink_clothes),2-grasp(pink_clothes),3-pick_up(pink_clothes),4-move_to(pink_clothes, right_side_of_the_table),5-place(pink_clothes, right_side_of_the_table),6-move_to(none, radish_doll),7-grasp(radish_doll),8-pick_up(radish_doll),9-move_to(radish_doll, left_side_of_the_table),10-place(radish_doll, left_side_of_the_table),11-move_to(none, white_rope),12-grasp(white_rope),13-pick_up(white_rope),14-move_to(white_rope, left_side_of_the_table),15-place(white_rope, left_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4422_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the pink clothes on the right side of the table, place the white rope and radish doll on the left side of the table> as the goal, steps so far are shown in the video, is step 7-grasp(radish_doll) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4480_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <push the faucet to the center of the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, faucet),2-grasp(faucet),3-turn(faucet, clockwise,center_of_the_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4480_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <push the faucet to the center of the sink> as the goal, steps so far are shown in the video, is step 1-move_to(none, faucet) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4696_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <clean a red bowl with a sponge> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, sponge),2-grasp(sponge),3-pick_up(sponge),4-move_to(sponge, bowl),5-wipe(sponge, unknown , bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4696_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <clean a red bowl with a sponge> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(sponge, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_4696_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <clean a red bowl with a sponge> as the goal, steps so far are shown in the video, is step 4-move_to(sponge, bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_5208_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a measuring tape to the left side of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, measuring_tape),2-grasp(measuring_tape),3-pick_up(measuring_tape),4-move_to(measuring_tape, left_side_of_the_table),5-place(measuring_tape, left_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_5314_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a pen, place it in a bowl, remove it from the bowl, place it on the table, and return it to the bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(pen, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_5314_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a pen, place it in a bowl, remove it from the bowl, place it on the table, and return it to the bowl> as the goal, steps so far are shown in the video, is step 4-move_to(pen, bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6034_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the rightest cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, rightest_cabinet_door),2-grasp(rightest_cabinet_door_handle),3-push(rightest_cabinet_door)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6034_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the rightest cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(rightest_cabinet_door_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6034_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing the rightest cabinet door> as the goal, steps so far are shown in the video, is step 2-grasp(rightest_cabinet_door_handle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6210_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pineapple in a box> as the goal, steps so far are shown in the video, is step 1-move_to(none, pineapple) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6458_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water from a cup into a bowl and mixing them> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, bowl),5-pour(cup, unknown , bowl),6-move_to(cup, table),7-place(cup, table),8-move_to(none, spoon),9-grasp(spoon),10-pick_up(spoon),11-move_to(spoon,bowl),12-stir(spoon, unknown,bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6458_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water from a cup into a bowl and mixing them> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(cup, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6458_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring water from a cup into a bowl and mixing them> as the goal, steps so far are shown in the video, is step 4-move_to(cup, bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6727_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing clothes from a rack and placing it on a couch> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(clothing)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6727_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing clothes from a rack and placing it on a couch> as the goal, steps so far are shown in the video, is step 2-grasp(clothing) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6886_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a bottle to the right side of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, right_side_of_the_table),5-place(bottle, right_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6886_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a bottle to the right side of a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6992_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel into a basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_6992_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel into a basket> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_7807_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bread in the dish on the table, the dish on the cloth, and the spoon on the top of table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none, bread_in_the_dish),2-grasp(bread_in_the_dish),3-pick_up(bread_in_the_dish),4-move_to(bread_in_the_dish, table),5-place(bread_in_the_dish, table),6-move_to(none, dish),7-grasp(dish),8-pick_up(dish),9-move_to(dish, cloth),10-place(dish, cloth),11-move_to(none, spoon),12-grasp(spoon),13-pick_up(spoon),14-move_to(spoon, top_of_table),15-place(spoon, top_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_7807_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bread in the dish on the table, the dish on the cloth, and the spoon on the top of table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(bread_in_the_dish, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_7807_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bread in the dish on the table, the dish on the cloth, and the spoon on the top of table> as the goal, steps so far are shown in the video, is step 2-grasp(bread_in_the_dish) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_8398_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the pile of building blocks and stack them in the center of the table, and pick up the bottom blue brick and place them on the pile> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "7-grasp(bottom_blue_brick)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_8398_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the pile of building blocks and stack them in the center of the table, and pick up the bottom blue brick and place them on the pile> as the goal, steps so far are shown in the video, is step 4-move_to(pile_of_building_blocks, center_of_table) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_8752_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move the cucumber to the left of the bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cucumber),2-grasp(cucumber),3-pick_up(cucumber),4-move_to(cucumber, bowl),5-place(cucumber, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_8752_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move the cucumber to the left of the bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, cucumber) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_8939_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Swap the position of the items on the table with the items on the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, brown_doll),2-grasp(brown_doll),3-pick_up(brown_doll),4-move_to(brown_doll, on_the_box),5-place(brown_doll, on_the_box),6-move_to(none, orange_ball),7-grasp(orange_ball),8-pick_up(orange_ball),9-move_to(orange_ball, table),10-place(orange_ball, table),11-move_to(none, pencil_case),12-grasp(pencil_case),13-pick_up(pencil_case),14-move_to(pencil_case, table),15-place(pencil_case, table),16-move_to(none, white_cloth),17-grasp(white_cloth),18-pick_up(white_cloth),19-move_to(white_cloth, on_the_box),20-place(white_cloth, on_the_box),21-move_to(none, blue_book),22-grasp(blue_book),23-pick_up(blue_book),24-move_to(blue_book, table),25-place(blue_book, table),26-move_to(none, plastic_bag),27-grasp(plastic_bag),28-pick_up(plastic_bag),29-move_to(plastic_bag, on_the_box),30-place(plastic_bag, on_the_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_8939_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Swap the position of the items on the table with the items on the box> as the goal, steps so far are shown in the video, is step 3-pick_up(brown_doll) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9148_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cable ties on the table in the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, zip_ties_in_the_box),2-grasp(zip_ties),3-pick_up(zip_ties),4-move_to(zip_ties, counter),5-place(zip_ties, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9148_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cable ties on the table in the box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(zip_ties)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9148_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cable ties on the table in the box> as the goal, steps so far are shown in the video, is step 3-pick_up(zip_ties) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9361_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a bottle into an open drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle),3-pick_up(bottle),4-move_to(bottle, drawer),5-place(bottle, drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9361_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a bottle into an open drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9519_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a right burner grate onto stove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(right_burner_grate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9519_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a right burner grate onto stove> as the goal, steps so far are shown in the video, is step 2-grasp(right_burner_grate) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9560_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the spoon and put it in the bowl, take the silver lid and cover the iron basin, remove the glass pot lid and place it on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(spoon, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_9560_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the spoon and put it in the bowl, take the silver lid and cover the iron basin, remove the glass pot lid and place it on the table> as the goal, steps so far are shown in the video, is step 4-move_to(spoon, bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10496_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour chips into the black plate from the orange cup and place the orange cup into the blue cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none,orange_cup),2-grasp(orange_cup),3-pick_up(orange_cup),4-move_to(orange_cup,black_plate),5-pour(orange_cup,chips,black_plate),6-move_to(orange_cup,blue_cup),7-place(orange_cup,blue_cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10496_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour chips into the black plate from the orange cup and place the orange cup into the blue cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(orange_cup, black_plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10496_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour chips into the black plate from the orange cup and place the orange cup into the blue cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, orange_cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10503_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a towel and set it down> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pick_up(towel),4-move_to(towel, table),5-place(towel, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10503_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a towel and set it down> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10793_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(lid_handle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_10793_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, is step 3-pick_up(lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_11495_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a black dress from a chair and placing it in box> as the goal, steps so far are shown in the video, is step 1-move_to(none, black_dress) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_11553_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <relocating a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup,the_center_of_the_table),5-place(cup,the_center_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12373_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a bowl onto a paper and open a laptop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, paper),5-place(bowl, paper),6-move_to(none, laptop),7-grasp(laptop_upper),8-turn(laptop, clockwise, perpendicular_to_the_lower_layer_of_the_notebook)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12373_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a bowl onto a paper and open a laptop> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(bowl, paper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12373_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a bowl onto a paper and open a laptop> as the goal, steps so far are shown in the video, is step 1-move_to(none, bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12639_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe the table with the white cloth and unfold the gray cloth on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, white_cloth),2-grasp(white_cloth),3-wipe(white_cloth, unknown , table),4-move_to(none, gray_cloth),5-grasp(gray_cloth),6-unfold(right_side_of_towel, left_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12639_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe the table with the white cloth and unfold the gray cloth on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(none, gray_cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12639_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <wipe the table with the white cloth and unfold the gray cloth on the table> as the goal, steps so far are shown in the video, is step 3-wipe(white_cloth, unknown, table) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_12727_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the masking tape on the plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, masking_tape) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_13011_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker into a cup> as the goal, steps so far are shown in the video, is step 2-grasp(marker) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_13391_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a wire shoe rack to the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,wire_shoe_rack),2-grasp(wire_shoe_rack),3-push(wire_shoe_rack, left)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_13391_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a wire shoe rack to the left> as the goal, steps so far are shown in the video, is step 1-move_to(none, wire_shoe_rack) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_13675_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the napkin and place it in the trash can> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, napkin),2-grasp(napkin),3-fold(right_side_of_napkin, left_side_of_napkin),4-grasp(folded_napkin),5-pick_up(folded_napkin),6-move_to(folded_napkin,  trash_can),7-place(folded_napkin,  trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_13675_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the napkin and place it in the trash can> as the goal, steps so far are shown in the video, is step 2-grasp(napkin) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14309_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring cereal from the cup into a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14309_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring cereal from the cup into a bowl> as the goal, steps so far are shown in the video, is step 2-grasp(cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14730_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker on a towel, fold the towel twice, and place the towel in a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,marker),2-grasp(marker),3-pick_up(marker),4-move_to(marker, towel),5-place(marker, towel),6-move_to(none , towel),7-grasp(bottom_side_of_towel),8-fold(bottom_side_of_towel, upper_side_of_towel),9-grasp(left_side_of_towel),10-fold(left_side_of_towel, right_side_of_towel),11-grasp(towel),12-pick_up(towel),13-move_to(towel, box),14-place(towel, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14730_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker on a towel, fold the towel twice, and place the towel in a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(marker)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14730_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker on a towel, fold the towel twice, and place the towel in a box> as the goal, steps so far are shown in the video, is step 7-grasp(bottom_side_of_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14822_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take a clothes hanger from the table and hang it on a vertical hanger> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(hanger_on_the_table, vertical_hanger)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14822_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take a clothes hanger from the table and hang it on a vertical hanger> as the goal, steps so far are shown in the video, is step 1-move_to(none, hanger_on_the_table) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_14894_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take the brush out of the sink and place it on the countertop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, brush),2-grasp(brush),3-pick_up(brush),4-move_to(brush, countertop),5-place(brush, countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_15150_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a faucet to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, faucet),2-grasp(faucet_handle),3-turn(faucet, anticlockwise, right_of_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_15150_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a faucet to the right> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(faucet, anticlockwise, right_of_sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_15150_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a faucet to the right> as the goal, steps so far are shown in the video, is step 1-move_to(none, faucet) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_15458_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cap over the bottle> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cap)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_15458_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cap over the bottle> as the goal, steps so far are shown in the video, is step 2-grasp(cap) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_16514_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a sponge in a drawer and closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, sponge),2-grasp(sponge),3-pick_up(sponge),4-move_to(sponge, drawer),5-place(sponge, drawer),6-move_to(none,drawer),7-grasp(drawer),8-push(drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_16514_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a sponge in a drawer and closing the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(sponge, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_16514_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a sponge in a drawer and closing the drawer> as the goal, steps so far are shown in the video, is step 2-grasp(sponge) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_16648_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a cup to the front of the sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, front_of_the_sink),5-place(cup, front_of_the_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_16648_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a cup to the front of the sink> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_16648_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a cup to the front of the sink> as the goal, steps so far are shown in the video, is step 3-pick_up(cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_17549_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the cup on the left side of the table, and then put the marker pen into the cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup,left_side_of_the_table),5-place(cup,left_side_of_the_table),6-move_to(none,marker),7-grasp(marker),8-pick_up(marker),9-move_to(marker,cup),10-place(marker,cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_17549_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the cup on the left side of the table, and then put the marker pen into the cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_17549_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the cup on the left side of the table, and then put the marker pen into the cup> as the goal, steps so far are shown in the video, is step 4-move_to(cup, left_side_of_the_table) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_17964_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing clothing on a chair backrest> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, clothing),2-grasp(clothing),3-pick_up(clothing),4-move_to(clothing, chair_backrest),5-place(clothing, chair_backrest)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_17964_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing clothing on a chair backrest> as the goal, steps so far are shown in the video, is step 1-move_to(none, clothing) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_18085_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the shirt three times> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,shirt), 2-grasp(upper_side_of_the_shirt),3-fold(upper_side_of_the_shirt,bottom_side_of_the_shirt),4-grasp(bottom_side_of_the_shirt),5-fold(bottom_side_of_the_shirt, upper_side_of_the_shirt),6-grasp(right_side_of_the_shirt),7-fold(right_side_of_the_shirt, left_side_of_the_shirt)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_18085_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the shirt three times> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(upper_side_of_the_shirt, bottom_side_of_the_shirt)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_18085_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the shirt three times> as the goal, steps so far are shown in the video, is step 4-grasp(bottom_side_of_the_shirt) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19031_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put white clothing and brown clothing into a box> as the goal, steps so far are shown in the video, is step 2-grasp(white_clothing) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19119_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieve a lid from the sink and place it on the countertop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, lid),2-grasp(lid),3-pick_up(lid),4-move_to(lid, countertop),5-place(lid, countertop)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19119_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieve a lid from the sink and place it on the countertop> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19119_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieve a lid from the sink and place it on the countertop> as the goal, steps so far are shown in the video, is step 1-move_to(none, lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19253_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening and closing a cabinet  left door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none, left_cabinet_door_handle),2-grasp(left_cabinet_door_handle),3-pull(left_cabinet_door),4-push(left_cabinet_door)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19253_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening and closing a cabinet  left door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pull(left_cabinet_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19253_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <opening and closing a cabinet  left door> as the goal, steps so far are shown in the video, is step 1-move_to(none, left_cabinet_door_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19277_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a pen from a table to a bowl and table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, pen),2-grasp(pen),3-pick_up(pen),4-move_to(pen, bowl),5-place(pen, bowl),6-move_to(none, pen),7-grasp(pen),8-pick_up(pen),9-move_to(pen, table),10-place(pen, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19277_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a pen from a table to a bowl and table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pen)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19277_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a pen from a table to a bowl and table> as the goal, steps so far are shown in the video, is step 1-move_to(none, pen) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19432_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a bottle into a bag pocket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19432_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a bottle into a bag pocket> as the goal, steps so far are shown in the video, is step 2-grasp(bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19466_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a faucet head to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, faucet_head),2-grasp(faucet_head),3-turn(faucet_head, anticlockwise , right_of_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19466_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a faucet head to the right> as the goal, steps so far are shown in the video, is step 1-move_to(none, faucet_head) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19940_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a hoodie and place it neatly on a chair seat> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(hoodie)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_19940_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a hoodie and place it neatly on a chair seat> as the goal, steps so far are shown in the video, is step 2-grasp(hoodie) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_20952_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a fleece blanket into a basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(fleece_blanket, basket)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_20952_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a fleece blanket into a basket> as the goal, steps so far are shown in the video, is step 3-pick_up(fleece_blanket) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_21528_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into a drawer and closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,screwdriver),2-grasp(screwdriver),3-pick_up(screwdriver),4-move_to(screwdriver,drawer),5-place(screwdriver,drawer),6-move_to(none,drawer),7-grasp(drawer),8-push(drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_21528_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into a drawer and closing the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(screwdriver)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_21528_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into a drawer and closing the drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, screwdriver) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_21844_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <grasp the inner bowl, place it on the table> as the goal, steps so far are shown in the video, is step 2-grasp(inner_bowl) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_21874_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put a bottle in a bag and place the bag on a chair> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(bottle, bag)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_21874_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put a bottle in a bag and place the bag on a chair> as the goal, steps so far are shown in the video, is step 2-grasp(bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_22532_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a snack pack onto a shelf> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, snack_pack),2-grasp(snack_pack),3-pick_up(snack_pack),4-move_to(snack_pack, shelf),5-place(snack_pack, shelf)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_22532_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a snack pack onto a shelf> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(snack_pack)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_22532_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a snack pack onto a shelf> as the goal, steps so far are shown in the video, is step 3-pick_up(snack_pack) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_23173_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stacking a plastic bottle on top of a yellow bottle> as the goal, steps so far are shown in the video, is step 1-move_to(none, plastic_bottle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_23368_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing  towel on a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_23368_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing  towel on a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_23834_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing bread  into a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bread),2-grasp(bread),3-pick_up(bread),4-move_to(bread, drawer),5-place(bread_plushie, drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_23834_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing bread  into a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bread)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_23834_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing bread  into a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, bread) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24083_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the towel to wipe the cup, and put the towel into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,towel),2-grasp(towel),3-pick_up(towel),4-move_to(towel,cup),5-wipe(towel,water,cup),6-move_to(towel,pot),7-place(towel,pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24083_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the towel to wipe the cup, and put the towel into the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(towel, cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24083_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the towel to wipe the cup, and put the towel into the pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24157_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the bottom bag in the box> as the goal, steps so far are shown in the video, is step 2-grasp(bottom_bag) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24531_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up scissors and place them in the bottom compartment of a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, scissors),2-grasp(scissors),3-pick_up(scissors),4-move_to(scissors, bottom_of_cabinet),5-place(scissors, bottom_of_cabinet)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24531_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up scissors and place them in the bottom compartment of a cabinet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(scissors)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24531_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up scissors and place them in the bottom compartment of a cabinet> as the goal, steps so far are shown in the video, is step 1-move_to(none, scissors) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24564_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into an open drawer and closing the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, screwdriver),2-grasp(screwdriver),3-pick_up(screwdriver),4-move_to(screwdriver, drawer),5-place(screwdriver, drawer),6-move_to(none, drawer),7-grasp(drawer),8-push(drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24564_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into an open drawer and closing the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(screwdriver)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_24564_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into an open drawer and closing the drawer> as the goal, steps so far are shown in the video, is step 3-pick_up(screwdriver) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25029_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <mixing the contents of a cup and placing the spoon on the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, cup),5-stir(spoon, unknown , cup),6-move_to(spoon, table),7-place(spoon, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25029_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <mixing the contents of a cup and placing the spoon on the counter> as the goal, steps so far are shown in the video, is step 2-grasp(spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25120_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing towel in a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-fold(corner_of_the_towel, other_side)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25120_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing towel in a box> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25145_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hang a clothes peg on a wooden clothes rack> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(clothes_peg, clothes_rack)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25145_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hang a clothes peg on a wooden clothes rack> as the goal, steps so far are shown in the video, is step 1-move_to(none, clothes_peg) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25200_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir the contents of a bowl and place the spoon in a cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, bowl),5-stir(spoon, unknown , bowl),6-move_to(spoon, cup),7-place(spoon, cup)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25200_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <stir the contents of a bowl and place the spoon in a cup> as the goal, steps so far are shown in the video, is step 3-pick_up(spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_25898_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pen on a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, pen) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_26264_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a granola bar in a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, granola_bar),2-grasp(granola_bar),3-pick_up(granola_bar),4-move_to(granola_bar, cabinet),5-place(granola_bar, cabinet)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_26264_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a granola bar in a cabinet> as the goal, steps so far are shown in the video, is step 2-grasp(granola_bar) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27096_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the top brick and put it on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, top_brick) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27143_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a cup to the right side of the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27363_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the clothing on the sofa, and put the plastic bag on the sofa> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,clothing),2-grasp(clothing),3-pick_up(clothing),4-move_to(clothing,sofa),5-place(clothing,sofa),6-move_to(none,plastic_bag),7-grasp(plastic_bag),8-pick_up(plastic_bag),9-move_to(plastic_bag,sofa),10-place(plastic_bag,sofa)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27363_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the clothing on the sofa, and put the plastic bag on the sofa> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(clothing, sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27363_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the clothing on the sofa, and put the plastic bag on the sofa> as the goal, steps so far are shown in the video, is step 3-pick_up(clothing) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27418_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take the pen out of the cup and put it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, pen),2-grasp(pen),3-pick_up(pen),4-move_to(pen, table),5-place(pen, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27418_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take the pen out of the cup and put it on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, pen) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27567_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a sock from a drawer to sill> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, sock),2-grasp(sock),3-pick_up(sock),4-move_to(sock, sill),5-place(sock, sill)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27567_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a sock from a drawer to sill> as the goal, steps so far are shown in the video, is step 1-move_to(none, sock) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27801_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the yellow and white towels in the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none,yellow_towel),2-grasp(yellow_towel),3-pick_up(yellow_towel),4-move_to(yellow_towel, box),5-place(yellow_towel, box),6-move_to(none,white_towel),7-grasp(white_towel),8-pick_up(white_towel),9-move_to(white_towel, box),10-place(white_towel, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_27801_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the yellow and white towels in the box> as the goal, steps so far are shown in the video, is step 5-place(yellow_towel, box) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28240_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "1-move_to(none,cloth),2-grasp(cloth),3-wipe(cloth,unknown,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28376_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a spoon into a glass jar> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, jar),5-place(spoon, jar)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28401_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a sponge and a mango in a cabinet and closing the door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none,orange_sponge),2-grasp(orange_sponge),3-pick_up(orange_sponge),4-move_to(sponge, cabinet),5-place(sponge, cabinet),6-move_to(none,mango),7-grasp(mango),8-pick_up(mango),9-move_to(mango, cabinet),10-place(mango, cabinet),11-move_to(none, cabinet_door_handle),12-grasp(cabinet_door_handle),13-push(cabinet_door)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28401_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a sponge and a mango in a cabinet and closing the door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(orange_sponge)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_28401_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a sponge and a mango in a cabinet and closing the door> as the goal, steps so far are shown in the video, is step 4-move_to(sponge, cabinet) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_29303_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <uncover a pot and cover it again> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pot_lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_29303_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <uncover a pot and cover it again> as the goal, steps so far are shown in the video, is step 2-grasp(pot_lid_handle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_30113_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(lid, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_30113_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, is step 2-grasp(lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_30212_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a hat into a laundry bag> as the goal, steps so far are shown in the video, is step 1-move_to(none, hat) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_30347_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pen into a mug> as the goal, steps so far are shown in the video, is step 2-grasp(pen) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_30939_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a rope into groove> as the goal, steps so far are shown in the video, is step 3-pick_up(rope) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_31800_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, door),2-grasp(door),3-push(door)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_31800_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-push(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_31800_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a door> as the goal, steps so far are shown in the video, is step 1-move_to(none, door) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_32240_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the mug on the window sill and the lemon on the plate> as the goal, steps so far are shown in the video, is step 2-grasp(mug) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_32397_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a bag of chips and place it on a shelf> as the goal, steps so far are shown in the video, is step 1-move_to(none, chips_bag) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_32435_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove blocks from a bowl and place them around it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 35 steps.",
+    "gt_answer": "1-grasp(yellow_block),2-pick_up(yellow_block),3-place(yellow_block, table),4-grasp(red_block),5-pick_up(red_block),6-place(red_block, table),7-grasp(second_red_block),8-pick_up(second_red_block),9-place(second_red_block, table),10-grasp(orange_block),11-pick_up(orange_block),12-place(orange_block, table),13-grasp(green_block),14-pick_up(green_block),15-place(green_block, table),16-grasp(second_green_block),17-pick_up(second_green_block),18-place(second_green_block, table),19-grasp(yellow_block_and_orange_block),20-pick_up(yellow_block_and_orange_block),21-place(yellow_block_and_orange_block, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_32435_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove blocks from a bowl and place them around it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-pick_up(red_block)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_32435_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove blocks from a bowl and place them around it> as the goal, steps so far are shown in the video, is step 4-grasp(red_block) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35132_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a rope onto a curved surface> as the goal, steps so far are shown in the video, is step 1-move_to(none, rope) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35223_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the pot lid on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(lid, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35223_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the pot lid on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35378_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up clothes and place them into a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none, orange_and_light_yellow_clothes),2-grasp(orange_and_light_yellow_clothes),3-pick_up(orange_and_light_yellow_clothes),4-move_to(orange_and_light_yellow_clothes, box),5-place(orange_and_light_yellow_clothes, box),6-move_to(none, pink_clothes),7-grasp(pink_clothes),8-pick_up(pink_clothes),9-move_to(pink_clothes, box),10-place(pink_clothes, box),11-move_to(none, yellow_and_white_clothes),12-grasp(yellow_and_white_clothes),13-pick_up(yellow_and_white_clothes),14-move_to(yellow_and_white_clothes, box),15-place(yellow_and_white_clothes, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35378_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up clothes and place them into a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(orange_and_light_yellow_clothes, box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35378_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up clothes and place them into a box> as the goal, steps so far are shown in the video, is step 1-move_to(none, orange_and_light_yellow_clothes) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35399_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pillow on a tv stand> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(pillow)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35399_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pillow on a tv stand> as the goal, steps so far are shown in the video, is step 3-pick_up(pillow) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35693_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <grasp the mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, mug),2-grasp(mug)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35693_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <grasp the mug> as the goal, steps so far are shown in the video, is step 1-move_to(none, mug) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_35969_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a bowl with a plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, plate) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_36120_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Hang an oven mitt on the hook at the far right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, oven_mitt),2-grasp(oven_mitt),3-pick_up(oven_mitt),4-move_to(oven_mitt,  far_right_hook),5-place(oven_mitt, far_right_hook)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_36120_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Hang an oven mitt on the hook at the far right> as the goal, steps so far are shown in the video, is step 2-grasp(oven_mitt) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_37578_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move the candy bar towards the sink> as the goal, steps so far are shown in the video, is step 2-grasp(candy_bar) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_37640_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the napkin and place the napkin in a bin> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none,napkin),2-grasp(left_side_of_napkin),3-fold(left_side_of_napkin,right_side_of_napkin),4-move_to(napkin,bin),5-place(napkin,bin)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_37640_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the napkin and place the napkin in a bin> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(left_side_of_napkin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_37640_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Fold the napkin and place the napkin in a bin> as the goal, steps so far are shown in the video, is step 1-move_to(none, napkin) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_37986_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the yellow towel and the black towel on the chair> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, black_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_37986_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the yellow towel and the black towel on the chair> as the goal, steps so far are shown in the video, is step 5-place(yellow_towel, chair) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_38669_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up and placing down a marker> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, marker),2-grasp(marker),3-pick_up(marker),4-move_to(marker, board),5-place(marker, board)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_38669_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up and placing down a marker> as the goal, steps so far are shown in the video, is step 1-move_to(none, marker) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39234_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the black hat on top of the red hat> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, black_hat),2-grasp(black_hat),3-pick_up(black_hat),4-move_to(black_hat , red_hat),5-place(black_hat , red_hat)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39234_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the black hat on top of the red hat> as the goal, steps so far are shown in the video, is step 1-move_to(none, black_hat) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39265_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <packing clothes into a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 15 steps.",
+    "gt_answer": "1-move_to(none,orange_clothes),2-grasp(orange_clothes),3-pick_up(orange_clothes),4-move_to(orange_clothes, box),5-place(orange_clothes, box),6-move_to(none,yellow_clothes),7-grasp(yellow_clothes),8-pick_up(yellow_clothes),9-move_to(yellow_clothes, box),10-place(yellow_clothes, box),11-move_to(none,pink_clothes),12-grasp(pink_clothes),13-pick_up(pink_clothes),14-move_to(pink_clothes, box),15-place(pink_clothes, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39265_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <packing clothes into a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(orange_clothes)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39265_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <packing clothes into a box> as the goal, steps so far are shown in the video, is step 4-move_to(orange_clothes, box) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39825_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the tap and the top drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, tap),2-grasp(tap),3-turn(tap , clockwise, middle_of_sink),4-move_to(none, drawer),5-grasp(drawer_handle),6-push(drawer,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39825_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the tap and the top drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(tap)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_39825_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <close the tap and the top drawer> as the goal, steps so far are shown in the video, is step 2-grasp(tap) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_40530_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a sachet and place it on the table,pick up bottles and place them on the plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 40 steps.",
+    "gt_answer": "1-grasp(sachet),2-pick_up(sachet),3-place(sachet, table),4-grasp(green_bottle),5-pick_up(green_bottle),6-place(green_bottle, plate),7-grasp(brown_bottle),8-pick_up(brown_bottle),9-place(brown_bottle, plate),10-grasp(yellow_bottle),11-pick_up(yellow_bottle),12-place(yellow_bottle, plate),13-grasp(blue_bottle),14-pick_up(blue_bottle),15-place(blue_bottle, plate),16-grasp(big_white_bottle),17-pick_up(big_white_bottle),18-place(big_white_bottle, plate),19-grasp(little_white_bottle),20-pick_up(little_white_bottle),21-place(little_white_bottle, plate),22-grasp(strawberry),23-pick_up(strawberry),24-place(strawberry, plate)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_40530_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a sachet and place it on the table,pick up bottles and place them on the plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "9-place(brown_bottle, plate), 10-grasp(yellow_bottle), 11-pick_up(yellow_bottle), 12-place(yellow_bottle, plate), 13-grasp(blue_bottle), 14-pick_up(blue_bottle), 15-place(blue_bottle, plate), 16-grasp(big_white_bottle), 17-pick_up(big_white_bottle), 18-place(big_white_bottle, plate), 19-grasp(little_white_bottle), 20-pick_up(little_white_bottle), 21-place(little_white_bottle, plate), 22-grasp(strawberry), 23-pick_up(strawberry), 24-place(strawberry, plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_40530_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a sachet and place it on the table,pick up bottles and place them on the plate> as the goal, steps so far are shown in the video, is step 8-pick_up(brown_bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_41073_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing ropes into a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(ropes)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_41073_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing ropes into a box> as the goal, steps so far are shown in the video, is step 4-move_to(ropes, box) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_41369_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-fold(right_side_of_towel, left_side_of_towel),4-fold(left_side_of_towel, right_side_of_towel),5-fold(bottom_side_of_towel, top_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_41369_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_43232_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker on a cloth,  and placing  cloth in a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none,marker),2-grasp(marker),3-pick_up(marker),4-move_to(marker,cloth),5-place(marker,cloth),6-move_to(none,cloth),7-grasp(cloth),8-fold(corner_of_the_cloth,other_side),9-pick_up(folded_cloth),10-move_to(folded_cloth,box),11-place(folded_cloth,box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_43232_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker on a cloth,  and placing  cloth in a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(marker, cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_43232_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker on a cloth,  and placing  cloth in a box> as the goal, steps so far are shown in the video, is step 1-move_to(none, marker) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_44100_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing bread into a box> as the goal, steps so far are shown in the video, is step 3-pick_up(bread) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46008_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a rolling pin on an oven and open the oven door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, rolling_pin),2-grasp(rolling_pin),3-pick_up(rolling_pin),4-move_to(rolling_pin, oven),5-place(rolling_pin, oven),6-move_to(none, oven_door),7-grasp(oven_door),8-turn(oven_door,down,open)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46008_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a rolling pin on an oven and open the oven door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(rolling_pin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46008_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a rolling pin on an oven and open the oven door> as the goal, steps so far are shown in the video, is step 2-grasp(rolling_pin) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46356_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting shirts into a basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, white_and_blue_shirts),2-grasp(white_and_blue_shirts),3-pick_up(white_and_blue_shirts),4-move_to(white_and_blue_shirts, basket),5-place(white_and_blue_shirts, basket),6-move_to(none, grey_shirts),7-grasp(grey_shirts),8-pick_up(grey_shirts),9-move_to(grey_shirts, basket),10-place(grey_shirts, basket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46356_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting shirts into a basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(white_and_blue_shirts)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46356_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting shirts into a basket> as the goal, steps so far are shown in the video, is step 2-grasp(white_and_blue_shirts) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46501_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cloth to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(cloth),3-push(cloth, right_side_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46820_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open the drawer and place the apple into the basket> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(drawer_handle),3-pull(drawer,open),4-move_to(none,apple),5-grasp(apple),6-pick_up(apple),7-move_to(apple, basket),8-place(apple, basket)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46820_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open the drawer and place the apple into the basket> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(none, apple)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46820_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <open the drawer and place the apple into the basket> as the goal, steps so far are shown in the video, is step 3-pull(drawer, open) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46911_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white towel in a bin> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(white_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_46911_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white towel in a bin> as the goal, steps so far are shown in the video, is step 1-move_to(none, white_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47023_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <plugging a charger into an adapter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(charger_head)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47023_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <plugging a charger into an adapter> as the goal, steps so far are shown in the video, is step 2-grasp(charger_head) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47097_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Use a spoon to scoop milk powder from the bowl into the cup> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-scoop(spoon, milk_powder, bowl),5-move_to(spoon, cup),6-pour(spoon, milk_powder, cup),7-move_to(spoon, bowl),8-place(scoop, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47097_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Use a spoon to scoop milk powder from the bowl into the cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-scoop(spoon, milk_powder, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47097_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Use a spoon to scoop milk powder from the bowl into the cup> as the goal, steps so far are shown in the video, is step 3-pick_up(spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47344_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <push sundries to the left using a towel, then place the towel in a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-wipe(towel, sundries, left_side_of_table),4-move_to(towel, box),5-place(towel, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47344_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <push sundries to the left using a towel, then place the towel in a box> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47631_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <reposition a box next to a pencil> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, box),2-grasp(box),3-pick_up(box),4-move_to(box, next_to_pencil),5-place(box, next_to_pencil)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47631_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <reposition a box next to a pencil> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47631_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <reposition a box next to a pencil> as the goal, steps so far are shown in the video, is step 1-move_to(none, box) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_47947_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a lid from a pot and placing it on the table> as the goal, steps so far are shown in the video, is step 1-move_to(lid, pot) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_48716_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning a tap nozzle> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, tap_nozzle),2-grasp(tap_nozzle),3-turn(tap_nozzle, clockwise, middle_of_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_48716_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning a tap nozzle> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(tap_nozzle, clockwise, middle_of_sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_48716_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <turning a tap nozzle> as the goal, steps so far are shown in the video, is step 1-move_to(none, tap_nozzle) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_51234_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a bowl to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, right_side_of_table),5-place(bowl, right_side_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_51234_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a bowl to the right> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_51234_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a bowl to the right> as the goal, steps so far are shown in the video, is step 1-move_to(none, bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_52134_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <disassembling a food processor> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, lid_of_the_food_processor),2-grasp(lid_of_the_food_processor),3-pick_up(lid_of_the_food_processor),4-move_to(lid_of_the_food_processor, table),5-place(lid_of_the_food_processor, table),6-move_to(none, blades_inside_the_chamber),7-grasp(blades_inside_the_chamber),8-pick_up(blades_inside_the_chamber),9-move_to(blades_inside_the_chamber, table),10-place(blades_inside_the_chamber, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_52134_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <disassembling a food processor> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(lid_of_the_food_processor)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_52134_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <disassembling a food processor> as the goal, steps so far are shown in the video, is step 1-move_to(none, lid_of_the_food_processor) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_53249_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel inside a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-pick_up(towel),4-move_to(towel, cabinet),5-place(towel, cabinet)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_53249_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel inside a cabinet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_53249_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel inside a cabinet> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_53844_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the cloth above the table, place the lid on the table, and put the lid on the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none,cloth),2-grasp(cloth),3-push(cloth, above_table),4-move_to(none,lid),5-grasp(lid_handle),6-pick_up(lid),7-move_to(lid, table),8-place(lid, table),9-move_to(none,lid),10-grasp(lid_handle),11-pick_up(lid),12-move_to(lid, pot),13-place(lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_53844_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the cloth above the table, place the lid on the table, and put the lid on the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(none, lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_53844_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Move the cloth above the table, place the lid on the table, and put the lid on the pot> as the goal, steps so far are shown in the video, is step 3-push(cloth, above_table) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_54176_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a zucchini from a bowl to a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(zucchini)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_54176_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a zucchini from a bowl to a plate> as the goal, steps so far are shown in the video, is step 1-move_to(none, zucchini) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_54206_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a shaker into a dish> as the goal, steps so far are shown in the video, is step 2-grasp(shaker) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_54667_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a spoon onto a mat> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55014_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, glass_lid),2-grasp(lid),3-pick_up(lid),4-move_to(lid, pot),5-place(lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55014_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55014_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, is step 3-pick_up(lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55047_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-fold(bottom_right_corner_of_towel, top_right_corner_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55047_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding a towel> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55344_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Turn the tap on and turn it off> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, tap),2-grasp(tap),3-turn(tap, up, vertical_of_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_55344_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Turn the tap on and turn it off> as the goal, steps so far are shown in the video, is step 2-grasp(tap) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_56984_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking a marker from a pot and placing it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, marker),2-grasp(marker),3-pick_up(marker),4-move_to(marker, table),5-place(marker, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_56984_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <taking a marker from a pot and placing it on the table> as the goal, steps so far are shown in the video, is step 1-move_to(none, marker) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_56993_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <discarding trash into a sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, trash),2-grasp(trash),3-pick_up(trash),4-move_to(trash, sink),5-place(trash, sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_56993_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <discarding trash into a sink> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(trash)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_56993_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <discarding trash into a sink> as the goal, steps so far are shown in the video, is step 1-move_to(none, trash) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_57979_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a left cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, left_cabinet_door),2-grasp(left_cabinet_door),3-push(left_cabinet_door)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_57979_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a left cabinet door> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(left_cabinet_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_57979_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a left cabinet door> as the goal, steps so far are shown in the video, is step 2-grasp(left_cabinet_door) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_59135_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a candy bar in a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, candy_bar),2-grasp(candy_bar),3-pick_up(candy_bar),4-move_to(candy_bar, cabinet),5-place(candy_bar, cabinet)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_59135_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a candy bar in a cabinet> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(candy_bar, cabinet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_59135_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <storing a candy bar in a cabinet> as the goal, steps so far are shown in the video, is step 3-pick_up(candy_bar) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_59697_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the broccoli and tomatoes in the pot and cover the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-move_to(none, broccoli),2-grasp(broccoli),3-pick_up(broccoli),4-move_to(broccoli, pot),5-place(broccoli, pot),6-move_to(none, tomatoes),7-grasp(tomatoes),8-pick_up(tomatoes),9-move_to(tomatoes, pot),10-place(tomatoes, pot),11-move_to(none, glass_lid),12-grasp(glass_lid_handle),13-pick_up(glass_lid),14-move_to(glass_lid, pot),15-place(glass_lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_59697_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the broccoli and tomatoes in the pot and cover the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "7-grasp(tomatoes)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_59697_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Put the broccoli and tomatoes in the pot and cover the pot> as the goal, steps so far are shown in the video, is step 1-move_to(none, broccoli) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_60500_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the colored box on the table and the white box on top of the colored box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, colored_box),2-grasp(colored_box),3-pick_up(colored_box),4-move_to(colored_box, table),5-place(colored_box, table),6-move_to(none, white_box),7-grasp(white_box),8-pick_up(white_box),9-move_to(white_box, colored_box),10-place(white_box, colored_box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_60500_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the colored box on the table and the white box on top of the colored box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(colored_box, table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_60500_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the colored box on the table and the white box on top of the colored box> as the goal, steps so far are shown in the video, is step 3-pick_up(colored_box) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_60579_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put a marker into a mug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, marker),2-grasp(marker),3-pick_up(marker),4-move_to(marker, mug),5-place(marker, mug)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_60579_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <put a marker into a mug> as the goal, steps so far are shown in the video, is step 1-move_to(none, marker) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_61198_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the table with a towel and put the towel in the box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, towel),2-grasp(towel),3-wipe(towel, sundries, left_side_of_table),4-move_to(towel, box),5-place(towel, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_61198_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Wipe the table with a towel and put the towel in the box> as the goal, steps so far are shown in the video, is step 2-grasp(towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62271_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a tray to a window sill, placing a ball on it, close the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-move_to(none, tray),2-grasp(tray),3-pick_up(tray),4-move_to(tray, window_sill),5-place(tray, window_sill),6-move_to(none, green_ball),7-grasp(green_ball),8-pick_up(green_ball),9-move_to(green_ball,tray),10-place(green_ball, tray),11-move_to(none, drawer),12-grasp(drawer),13-push(drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62271_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a tray to a window sill, placing a ball on it, close the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(tray, window_sill)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62271_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a tray to a window sill, placing a ball on it, close the drawer> as the goal, steps so far are shown in the video, is step 5-place(tray, window_sill) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62394_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <plugging a charger into an adapter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(charger)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62394_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <plugging a charger into an adapter> as the goal, steps so far are shown in the video, is step 1-move_to(none, charger) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62835_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a yellow towel to the right on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, yellow_towel),2-grasp(yellow_towel),3-pull(yellow_towel, right_side_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62835_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a yellow towel to the right on a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, yellow_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62963_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a tap to the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, tap),2-grasp(tap),3-turn(tap, clockwise, middle_of_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_62985_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take the leftmost bowl and place it on top of the bowl pile> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, leftmost_bowl),2-grasp(leftmost_bowl),3-pick_up(leftmost_bowl),4-move_to(leftmost_bowl, bowl_pile),5-place(leftmost_bowl, bowl_pile)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_63330_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving a straw pack from a drawer and placing it on a tray> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, drawer),2-grasp(straw_pack),3-pick_up(straw_pack),4-move_to(none, tray),5-place(straw_pack, tray)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_63330_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving a straw pack from a drawer and placing it on a tray> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(straw_pack)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_63330_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <retrieving a straw pack from a drawer and placing it on a tray> as the goal, steps so far are shown in the video, is step 1-move_to(none, drawer) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64230_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the spoon next to the eggbeater and the green bowl next to the spoon> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, next_to_eggbeater),5-place(spoon, next_to_eggbeater),6-move_to(none, green_bowl),7-grasp(green_bowl),8-pick_up(green_bowl),9-move_to(green_bowl, next_to_spoon),10-place(green_bowl, next_to_spoon)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64230_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the spoon next to the eggbeater and the green bowl next to the spoon> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64444_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cup to the left of the table and the marker to the cup,put the pen on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none,cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, left_of_table),5-place(cup, left_of_table),6-move_to(none,marker),7-grasp(marker),8-pick_up(marker),9-move_to(marker, cup),10-place(marker, cup),11-grasp(marker),12-pick_up(marker),13-place(marker, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64444_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the cup to the left of the table and the marker to the cup,put the pen on the table> as the goal, steps so far are shown in the video, is step 3-pick_up(cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64756_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bowl on the top level on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bowl_on_the_top_level),2-grasp(bowl_on_the_top_level),3-pick_up(bowl_on_the_top_level),4-move_to(bowl_on_the_top_level, table),5-place(bowl_on_the_top_level, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64843_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a t-shirt on a chair and folding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, black_t-shirt),2-grasp(black_t-shirt),3-pick_up(black_t-shirt),4-move_to(black_t-shirt, back_of_the_chair),5-place(black_t-shirt, back_of_the_chair),6-move_to(none, towel),7-grasp(towel),8-fold(left_side_of_towel, right_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64843_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a t-shirt on a chair and folding a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(black_t-shirt)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_64843_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a t-shirt on a chair and folding a towel> as the goal, steps so far are shown in the video, is step 4-move_to(black_t-shirt, back_of_the_chair) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65413_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <picking up a hoodie from a box and placing it on a couch> as the goal, steps so far are shown in the video, is step 2-grasp(hoodie) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65532_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a fork in a pot and then covering the pot with a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, fork),2-grasp(fork),3-pick_up(fork),4-move_to(fork, pot),5-place(fork, pot),6-move_to(none, lid),7-grasp(lid),8-pick_up(lid),9-move_to(lid, pot),10-place(lid, pot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65532_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a fork in a pot and then covering the pot with a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(fork, pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65532_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a fork in a pot and then covering the pot with a lid> as the goal, steps so far are shown in the video, is step 2-grasp(fork) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65638_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a lid from a bottle, moving the bottle, and replacing the lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, bottle),2-grasp(bottle_lid),3-pick_up(bottle_lid),4-move_to(bottle_lid, table),5-place(bottle_lid, table),6-move_to(none,bottle),7-grasp(bottle),8-pick_up(bottle),9-move_to(bottle,table),10-place(bottle,table),11-move_to(bottle_lid),12-grasp(bottle_lid),13-pick_up(bottle_lid),14-move_to(bottle_lid, top_of_the_bottle),15-place(bottle_lid, top_of_the_bottle)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65638_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a lid from a bottle, moving the bottle, and replacing the lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, bottle)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65638_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a lid from a bottle, moving the bottle, and replacing the lid> as the goal, steps so far are shown in the video, is step 6-move_to(none, bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65936_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a cupcake forward on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, cupcake),2-grasp(cupcake),3-pick_up(cupcake),4-move_to(cupcake, front_of_table),5-place(cupcake, front_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65936_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a cupcake forward on a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(cupcake)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_65936_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a cupcake forward on a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, cupcake) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_66238_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging the towel on the top of the table on a hook and returning it to the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, towel_on_the_top_of_table),2-grasp(towel_on_the_top_of_table),3-pick_up(towel_on_the_top_of_table),4-move_to(towel_on_the_top_of_table, hook),5-place(towel_on_the_top_of_table, hook),6-grasp(towel_on_the_top_of_table),7-pick_up(towel_on_the_top_of_table),8-move_to(towel_on_the_top_of_table, table),9-place(towel_on_the_top_of_table, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_66238_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging the towel on the top of the table on a hook and returning it to the counter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(towel_on_the_top_of_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_66238_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging the towel on the top of the table on a hook and returning it to the counter> as the goal, steps so far are shown in the video, is step 2-grasp(towel_on_the_top_of_table) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68033_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving shirts and a towel to the top of a box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none, peach_shirt),2-grasp(peach_shirt),3-pick_up(peach_shirt),4-place(peach_shirt, box),5-move_to(none, pink_and_orange_shirts),6-grasp(pink_and_orange_shirts),7-pick_up(pink_and_orange_shirts),8-move_to(pink_and_orange_shirts, box),9-place(pink_and_orange_shirts, box),10-grasp(towel),11-pick_up(towel),12-move_to(towel, box),13-place(towel, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68033_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving shirts and a towel to the top of a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-place(peach_shirt, box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68033_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving shirts and a towel to the top of a box> as the goal, steps so far are shown in the video, is step 3-pick_up(peach_shirt) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68541_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a plate from an air fryer to a bowl, and then place the bowl on the air fryer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, plate),2-grasp(plate),3-pick_up(plate),4-move_to(plate, bowl),5-place(plate, bowl),6-grasp(bowl),7-pick_up(bowl),8-move_to(bowl, top_of_the_air_fryer),9-place(bowl, top_of_the_air_fryer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68541_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a plate from an air fryer to a bowl, and then place the bowl on the air fryer> as the goal, steps so far are shown in the video, is step 3-pick_up(plate) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68694_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a towel on a stand> as the goal, steps so far are shown in the video, is step 1-move_to(none, towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68770_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a spoonful of material from a bowl to a jug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-scoop(spoon, unknown, bowl),5-move_to(spoon, jug),6-pour(spoon, unknown, jug),7-move_to(spoon, table),8-place(spoon, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_68770_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a spoonful of material from a bowl to a jug> as the goal, steps so far are shown in the video, is step 1-move_to(none, spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69162_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a fork and butter knife in a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, butter_knife),2-grasp(butter_knife),3-pick_up(butter_knife),4-move_to(butter_knife, drawer),5-place(butter_knife, drawer),6-move_to(none, fork),7-grasp(fork),8-pick_up(fork),9-move_to(fork, drawer),10-place(fork, drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69162_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a fork and butter knife in a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(butter_knife)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69162_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a fork and butter knife in a drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, butter_knife) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69442_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a slipper to the top of a shoe rack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, slipper),2-grasp(slipper),3-pick_up(slipper),4-move_to(slipper, top_shelf),5-place(slipper, top_shelf)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69442_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a slipper to the top of a shoe rack> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(slipper)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69442_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a slipper to the top of a shoe rack> as the goal, steps so far are shown in the video, is step 2-grasp(slipper) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69495_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a jar into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, jar),2-grasp(jar),3-pick_up(jar),4-move_to(jar, bowl),5-pour(jar, unknown, bowl),6-move_to(jar, table),7-place(jar, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69495_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a jar into a bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(jar)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69495_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a jar into a bowl> as the goal, steps so far are shown in the video, is step 2-grasp(jar) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_69588_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a marker and place it in a cup> as the goal, steps so far are shown in the video, is step 2-grasp(marker) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_70722_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <closing a cabinet door> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, cabinet_door),2-grasp(cabinet_door_handle),3-push(cabinet_door)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_70737_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(marker)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_70737_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker into a cup> as the goal, steps so far are shown in the video, is step 2-grasp(marker) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_70943_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a glue stick on a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(glue_stick)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_70943_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a glue stick on a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, glue_stick) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_71001_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pair of sneakers into a shoe box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, one_shoe_on_lower_part_of_table),2-grasp(one_shoe_on_lower_part_of_table),3-pick_up(one_shoe_on_lower_part_of_table),4-move_to(one_shoe_on_lower_part_of_table, box),5-place(one_shoe_on_lower_part_of_table, box),6-move_to(none, another_shoe_on_lower_part_of_table),7-grasp(another_shoe_on_lower_part_of_table),8-pick_up(another_shoe_on_lower_part_of_table),9-move_to(another_shoe_on_lower_part_of_table, box),10-place(another_shoe_on_lower_part_of_table, box)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_71001_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pair of sneakers into a shoe box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(one_shoe_on_lower_part_of_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_71001_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pair of sneakers into a shoe box> as the goal, steps so far are shown in the video, is step 1-move_to(none, one_shoe_on_lower_part_of_table) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_71048_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker into a cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, marker) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_71056_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a lunchbox from a dishrack to a sink> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(lunchbox)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_71056_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a lunchbox from a dishrack to a sink> as the goal, steps so far are shown in the video, is step 2-grasp(lunchbox) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_71446_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hang a shirt on a clothes rack> as the goal, steps so far are shown in the video, is step 1-move_to(none, shirt) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_72712_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <laying a rope flat on a narrow board> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, rope),2-grasp(rope),3-pick_up(rope),4-move_to(rope, board),5-place(rope, board)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_72712_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <laying a rope flat on a narrow board> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(rope)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_72712_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <laying a rope flat on a narrow board> as the goal, steps so far are shown in the video, is step 1-move_to(none, rope) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_72759_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a hammer on a hanger> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(hammer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_72759_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <hanging a hammer on a hanger> as the goal, steps so far are shown in the video, is step 3-pick_up(hammer) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_73000_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(glass_lid, black_pot)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_73000_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, is step 3-pick_up(glass_lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_74014_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into an open drawer and closing drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, screwdriver),2-grasp(screwdriver),3-pick_up(screwdriver),4-move_to(screwdriver, drawer),5-place(screwdriver, drawer),6-move_to(none, drawer),7-grasp(drawer),8-push(drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_74014_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into an open drawer and closing drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(screwdriver)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_74014_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a screwdriver into an open drawer and closing drawer> as the goal, steps so far are shown in the video, is step 1-move_to(none, screwdriver) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_74091_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a tote bag from a higher hook to a lower hook on a rack> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(tote_bag)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_74091_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <move a tote bag from a higher hook to a lower hook on a rack> as the goal, steps so far are shown in the video, is step 3-pick_up(tote_bag) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_74724_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a pen into a bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, pen) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_75650_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the rope in the groove> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(rope, groove)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_75650_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the rope in the groove> as the goal, steps so far are shown in the video, is step 3-pick_up(rope) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_78108_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a screwdriver in a drawer and closing it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, screwdriver),2-grasp(screwdriver),3-pick_up(screwdriver),4-move_to(screwdriver, drawer),5-place(screwdriver, drawer),6-move_to(drawer),7-grasp(drawer),8-push(drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_78108_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a screwdriver in a drawer and closing it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-place(screwdriver, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_78108_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <putting a screwdriver in a drawer and closing it> as the goal, steps so far are shown in the video, is step 2-grasp(screwdriver) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_78483_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take the spoon and place it on the top of the table, and take the lid and place it on the bottle> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "8-pick_up(lid)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_78483_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Take the spoon and place it on the top of the table, and take the lid and place it on the bottle> as the goal, steps so far are shown in the video, is step 6-move_to(none, lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79145_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a can into a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, can),2-grasp(can),3-pick_up(can),4-move_to(can, bowl),5-pour(can, unknown, bowl),6-move_to(can, table),7-place(can, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79145_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a can into a bowl> as the goal, steps so far are shown in the video, is step 1-move_to(none, can) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79389_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a lid from a pan, move it, and place it back on the pan> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, lid),2-grasp(lid),3-pick_up(lid),4-move_to(lid, pan),5-place(lid, pan),6-move_to(none, lid),7-grasp(lid),8-pick_up(lid),9-move_to(lid, table),10-place(lid, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79389_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a lid from a pan, move it, and place it back on the pan> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(lid, pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79389_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <remove a lid from a pan, move it, and place it back on the pan> as the goal, steps so far are shown in the video, is step 6-move_to(none, lid) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79399_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a pear from table to drawer, and then transfer a piece of watermelon from drawer to table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, pear),2-grasp(pear),3-pick_up(pear),4-move_to(pear, drawer),5-place(pear, drawer),6-move_to(watermelon),7-grasp(watermelon),8-pick_up(watermelon),9-move_to(watermelon, table),10-place(watermelon, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79399_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a pear from table to drawer, and then transfer a piece of watermelon from drawer to table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(pear, drawer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79399_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a pear from table to drawer, and then transfer a piece of watermelon from drawer to table> as the goal, steps so far are shown in the video, is step 2-grasp(pear) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79681_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a towel> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, folded_towel),2-grasp(top_side_of_towel),3-unfold(right_side_of_towel, left_side_of_towel)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79681_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a towel> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-unfold(right_side_of_towel, left_side_of_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_79681_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <unfolding a towel> as the goal, steps so far are shown in the video, is step 2-grasp(top_side_of_towel) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_80962_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a counter with a green towel, and then put the broom to the right of the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-move_to(none, cloth),2-grasp(green_towel),3-wipe(green_towel, unknown, counter),4-move_to(none, broom),5-grasp(broom),6-pick_up(broom),7-move_to(broom, right_of_table),8-place(broom, right_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_80962_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a counter with a green towel, and then put the broom to the right of the counter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-wipe(green_towel, unknown, counter)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_80962_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <cleaning a counter with a green towel, and then put the broom to the right of the counter> as the goal, steps so far are shown in the video, is step 2-grasp(green_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81282_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the towels and boxes on the left side of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 13 steps.",
+    "gt_answer": "1-move_to(none,yellow_towel_and_nude_towel),2-grasp(yellow_towel_and_nude_towel),3-pick_up(yellow_towel_and_nude_towel),4-move_to(yellow_towel_and_nude_towel,left_side_of_table),5-place(yellow_towel_and_nude_towel,left_side_of_table),6-move_to(none,pink_towel_and_white_towel),7-grasp(pink_towel_and_white_towel),8-pick_up(pink_towel_and_white_towel),9-move_to(pink_towel_and_white_towel, left_side_of_table),10-place(pink_towel_and_white_towel,left_side_of_table),11-move_to(none,box),12-grasp(box),13-pick_up(box),14-move_to(box,left_side_of_table),15-place(box,left_side_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81282_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the towels and boxes on the left side of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "8-pick_up(pink_towel_and_white_towel)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81282_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the towels and boxes on the left side of the table> as the goal, steps so far are shown in the video, is step 6-move_to(none, pink_towel_and_white_towel) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81663_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a cup from drawer to table, then put a cloth to bowl and close a drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "1-move_to(none,cup),2-grasp(cup),3-pick_up(cup),4-move_to(cup, table),5-place(cup, table),6-move_to(none,cloth),7-grasp(cloth),8-pick_up(cloth),9-move_to(cloth, bowl),10-place(cloth, bowl),11-move_to(none,drawer),12-grasp(drawer),13-push(drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81663_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a cup from drawer to table, then put a cloth to bowl and close a drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81663_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transfer a cup from drawer to table, then put a cloth to bowl and close a drawer> as the goal, steps so far are shown in the video, is step 3-pick_up(cup) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81830_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white card onto cords within an open box> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, white_card),2-grasp(white_card),3-pick_up(white_card),4-move_to(white_card, open_box_with_cords),5-place(white_card, open_box_with_cords)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81830_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white card onto cords within an open box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(white_card)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_81830_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a white card onto cords within an open box> as the goal, steps so far are shown in the video, is step 1-move_to(none, white_card) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82054_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Empty the trash from the box into the trash and placing the empty box on the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, box),2-grasp(box),3-pick_up(box),4-move_to(box, trash_can),5-pour(box, trash, trash_can),6-move_to(box, counter),7-place(box, counter)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82054_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Empty the trash from the box into the trash and placing the empty box on the counter> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(box, trash_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82054_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Empty the trash from the box into the trash and placing the empty box on the counter> as the goal, steps so far are shown in the video, is step 2-grasp(box) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82431_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the white spoon from the plate and place it on the left side of the plate, and pick up the black spoon on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(white_spoon_on_plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82431_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up the white spoon from the plate and place it on the left side of the plate, and pick up the black spoon on the table> as the goal, steps so far are shown in the video, is step 2-grasp(white_spoon_on_plate) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82433_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a tap to the left> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, tap),2-grasp(tap),3-turn(tap, clockwise, left_of_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82433_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a tap to the left> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-turn(tap, clockwise, left_of_sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82433_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a tap to the left> as the goal, steps so far are shown in the video, is step 2-grasp(tap) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82519_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a milk from a bowl onto a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, milk),2-grasp(milk),3-pick_up(milk),4-move_to(milk, table),5-place(milk, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82519_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a milk from a bowl onto a table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(milk)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82519_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a milk from a bowl onto a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, milk) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82797_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bowl on the windowsill and close the drawer> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, windowsill),5-place(bowl, windowsill),6-move_to(none, drawer),7-push(drawer)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82797_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bowl on the windowsill and close the drawer> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(bowl, windowsill)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_82797_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the bowl on the windowsill and close the drawer> as the goal, steps so far are shown in the video, is step 3-pick_up(bowl) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84109_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pull out a piece of paper from the box and place it on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, a_piece_of_paper),2-grasp(a_piece_of_paper),3-pick_up(a_piece_of_paper),4-move_to(a_piece_of_paper, table),5-place(a_piece_of_paper, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84559_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a ball from a racket and drop it on the floor> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(ball, racket),2-grasp(ball),3-pick_up(ball),4-move_to(none, racket),5-place(ball, none)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84807_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the pen in the pen holder, the pen holder in a bag, and close a laptop> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 11 steps.",
+    "gt_answer": "1-move_to(none, pen),2-grasp(pen),3-pick_up(pen),4-move_to(pen, pen_holder),5-place(pen, pen_holder),6-move_to(none, pen_holder),7-grasp(pen_holder),8-pick_up(pen_holder),9-move_to(pen_holder, bag),10-place(pen_holder, bag),11-move_to(none, laptop)12-grasp(laptop),13-turn(laptop, down,screen_attach_keyboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84807_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the pen in the pen holder, the pen holder in a bag, and close a laptop> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, pen_holder)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_84807_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the pen in the pen holder, the pen holder in a bag, and close a laptop> as the goal, steps so far are shown in the video, is step 2-grasp(pen) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85106_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a cloth and place it in a box> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(cloth)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85106_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pick up a cloth and place it in a box> as the goal, steps so far are shown in the video, is step 1-move_to(none, cloth) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85145_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a orange cup onto a tray> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none, orange_cup),2-grasp(orange_cup),3-pick_up(orange_cup),4-move_to(orange_cup, tray),5-pour(orange_cup, unknown, tray),6-move_to(orange_cup, table),7-place(orange_cup, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85145_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a orange cup onto a tray> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(orange_cup, tray)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85145_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <pouring contents from a orange cup onto a tray> as the goal, steps so far are shown in the video, is step 3-pick_up(orange_cup) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85303_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a spoonful of items from a bowl to a jug> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 9 steps.",
+    "gt_answer": "1-move_to(none, spoon),2-grasp(spoon),3-pick_up(spoon),4-move_to(spoon, bowl),5-scoop(spoon, unknown , bowl),6-move_to(spoon, jug),7-pour(spoon, unknown , jug),8-move_to(spoon, table),9-place(spoon, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85303_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a spoonful of items from a bowl to a jug> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-scoop(spoon, unknown, bowl)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85303_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <transferring a spoonful of items from a bowl to a jug> as the goal, steps so far are shown in the video, is step 3-pick_up(spoon) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85961_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <dispensing a bowl and placing a fry in it> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-move_to(none,button_on_the_appliance),2-grasp(button_on_the_appliance),3-press(button_on_the_appliance),4-move_to(none, fry),5-grasp(fry),6-pick_up(fry),7-move_to(fry, bowl),8-place(fry, bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85961_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <dispensing a bowl and placing a fry in it> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(none, fry)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_85961_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <dispensing a bowl and placing a fry in it> as the goal, steps so far are shown in the video, is step 4-move_to(none, fry) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86449_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a box onto a stack of books> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(none, box),2-grasp(box),3-pick_up(box),4-move_to(box, books),5-place(box, books)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86449_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a box onto a stack of books> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86449_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a box onto a stack of books> as the goal, steps so far are shown in the video, is step 3-pick_up(box) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86481_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the stuffed animal in the middle of the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "1-move_to(,nonestuffed_animal),2-grasp(stuffed_animal),3-pick_up(stuffed_animal),4-move_to(stuffed_animal, middle_of_table),5-place(stuffed_animal, middle_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86481_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the stuffed animal in the middle of the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-grasp(stuffed_animal)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_86481_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the stuffed animal in the middle of the table> as the goal, steps so far are shown in the video, is step 1-move_to(, nonestuffed_animal) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_87825_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the marker on the table and put it in the cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "3-pick_up(marker)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_87825_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place the marker on the table and put it in the cup> as the goal, steps so far are shown in the video, is step 2-grasp(marker) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_87874_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a tap to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-move_to(none, tap),2-grasp(tap),3-turn(tap, anticlockwise, right_side_of_sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_88075_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker into a cup> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "4-move_to(marker, cup)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_88075_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place a marker into a cup> as the goal, steps so far are shown in the video, is step 2-grasp(marker) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_88330_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a black bottle from a tray to a table> as the goal, steps so far are shown in the video, is step 1-move_to(none, black_bottle) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_89525_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding and unfolding a pair of jeans> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "1-grasp(jeans),2-fold(left_side_of_jeans, right_side_of_jeans),3-unfold(right_side_of_jeans, left_side_of_jeans)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_89525_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding and unfolding a pair of jeans> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-fold(left_side_of_jeans, right_side_of_jeans)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_89525_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <folding and unfolding a pair of jeans> as the goal, steps so far are shown in the video, is step 1-grasp(jeans) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_90987_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up one pen from the table and put it in the white cup. Open the grey notebook on the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "1-grasp(pen),2-pick_up(pen),3-move_to(pen, cup),4-place(pen, cup),5-move_to(none, notebook),6-grasp(notebook),7-turn(notebook, anticlockwise, spread_flat_on_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_90987_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up one pen from the table and put it in the white cup. Open the grey notebook on the table> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "2-pick_up(pen)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_90987_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pick up one pen from the table and put it in the white cup. Open the grey notebook on the table> as the goal, steps so far are shown in the video, is step 1-grasp(pen) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91155_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <covering a pot with a lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, lid) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91353_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the knife on the green plate then put the pink plate on the dish rack> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "1-move_to(none, knife),2-grasp(knife),3-pick_up(knife),4-move_to(knife, green_plate),5-place(knife, green_plate),6-move_to(none, pink_plate),7-grasp(pink_plate),8-pick_up(pink_plate),9-move_to(pink_plate, dish _rack),10-place(pink_plate, dish _rack)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91353_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the knife on the green plate then put the pink plate on the dish rack> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "6-move_to(none, pink_plate)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91353_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <place the knife on the green plate then put the pink plate on the dish rack> as the goal, steps so far are shown in the video, is step 5-place(knife, green_plate) finished?",
+    "gt_answer": "no",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91403_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place a banana and a pear from the basket on a plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "1-grasp(banana),2-pick_up(banana),3-move_to(banana, plate),4-place(banana, plate),5-grasp(pear),6-pick_up(pear),7-move_to(pear, plate),8-place(pear, plate)",
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+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91403_Q2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place a banana and a pear from the basket on a plate> as the goal, steps so far are shown in the video, what is the next step to do?",
+    "gt_answer": "5-grasp(pear)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_embodiment/single_arm/images/rtx_frames__new_85_85_droid#episode_91403_Q3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_embodiment",
+      "single_arm"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Place a banana and a pear from the basket on a plate> as the goal, steps so far are shown in the video, is step 4-place(banana, plate) finished?",
+    "gt_answer": "yes",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
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+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png"
+    ]
+  }
+]
\ No newline at end of file
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+[
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42446167",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the bed facing the tv. You want to navigate to the toilet. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(tv), 2-turn_left(), 3-go_forward(shower), 4-turn_right(), 5-go_forward(toilet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42899696",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv facing the bed. You want to navigate to the trash bin. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(cabinet), 3-turn_left(), 4-go_forward(trash_bin_is_on_your_right)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47332005",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sink and facing the heater. You want to navigate to the doorframe. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(doorframe)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/fb5a96b1a2",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the doorframe facing the table. You want to navigate to the bookshelf. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(table), 2-turn_left(), 3-go_forward(chair_beside_the_screen), 4-turn_right(), 5-go_forward(bookshelf)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/1ada7a0617",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the blue chair and facing the column. You want to navigate to the column. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(trash_bin), 3-turn_left(), 4-go_forward(wall), 5-turn_left(), 6-go_forward(column)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42899461",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sofa facing the fireplace. You want to navigate to the stove. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(fireplace), 2-turn_left(), 3-go_forward(stove)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/c49a8c6cff",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the window. You want to navigate to the monitor. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(heater), 2-turn_right(), 3-go_forward(monitor)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/578511c8a9",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the blue chair and facing the fan beside the boxes. You want to navigate to the trash bin. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(tables_on_the_right), 2-turn_left(), 3-go_forward(trash_bin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0316_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door facing the brown single-seat sofa. You want to navigate to the chair next to water fountain . You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(brown_single-seat_sofa), 2-turn_left(), 3-go_forward(brown_two-seats_sofa), 4-turn_left(), 5-go_forward(chair)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/3db0a1c8f3",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the toilet and facing the washing machine. You want to navigate to the pan. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(washing_machine), 2-turn_right(), 3-go_forward(sofa), 4-turn_right(), 5-go_forward(pan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
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+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42897508",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the kitchen windows. You want to navigate to the stove. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(cabinets), 2-turn_right(), 3-go_forward(stove)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42898581",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the bed. You want to navigate to the table. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(dresser), 2-turn_right(), 3-go_forward(table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47334372",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the washer. You want to navigate to the bathtub. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(washer), 2-turn_right(), 3-go_forward(bathtub)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42445429",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sofa and facing the TV. You want to navigate to the bookshelf. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(tv), 2-turn_right(), 3-go_forward(bookshelf)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42446151",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv and facing the closest sofa. You want to navigate to the stool by the piano. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(closest_sofa), 2-turn_right(), 3-go_forward(stool)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0338_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the boxes. You want to navigate to the counter. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(boxes), 2-turn_left(), 3-go_forward(counter)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42897554",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the bed and facing the door. You want to navigate to the wardrobe. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(door), 2-turn_right(), 3-go_forward(cabinet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47332899",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the desk. You want to navigate to the window. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(desk), 2-turn_right(), 3-go_forward(bed), 4-turn_left(), 5-go_forward(window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47429922",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the stool. You want to navigate to the bed. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(stool), 2-turn_right(), 3-go_forward(bed)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/cc5237fd77",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the black desk chair and facing the bookshelf. You want to navigate to the red desk chair. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(red_desk_chair)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42446517",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the black chair and facing to white table. You want to navigate to the tv. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(trash_bin), 3-turn_left(), 4-go_forward(tv)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0658_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the chair and facing to lamp. You want to navigate to the lamp on the cabinet. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(wardrobe), 3-Turn Left., 4-Go foward until the lamp.",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47331970",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the kitchen sink and facing window. You want to navigate to the refrigerator. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(refrigerator)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/d755b3d9d8",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the blue chair and facing the nearest monitor. You want to navigate to the brown door. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(cabinet), 3-Turn Right., 4-go_forward(brown_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47331990",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the bed. You want to navigate to the window. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(edge_of_bed), 2-turn_left(), 3-go_forward(wall), 4-turn_right(), 5-go_forward(window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0696_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the microwave and facing the table. You want to navigate to the sofa. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45260905",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the TV and facing the TV. You want to navigate to the door. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(wall_with_the_bookshelf_to_your_right), 3-turn_left(), 4-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47334362",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the farthest sofa. You want to navigate to the TV. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(farthest_sofa), 2-turn_left(), 3-go_forward(tv)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45261637",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the bed. You want to navigate to the cabinet. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(bed), 2-Turn Left., 3-go_forward(cabinet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0647_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the TV facing the drawing. You want to navigate to the table with two orange chair. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(drawing), 2-turn_right(), 3-go_forward(desired_chair)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/9071e139d9",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the whiteboard facing the whiteboard. You want to navigate to the bookshelf. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(blue_trash_bin), 3-turn_left(), 4-go_forward(bookshelf)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47333436",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the window. You want to navigate to the farthest sofa. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(window), 2-turn_left(), 3-go_forward(sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45662924",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the lamp and facing the windows. You want to navigate to the painting seen in the other room. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(wall), 3-Turn Left., 4-go_forward(painting)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0591_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the black chair next to the trash bin and facing the table. You want to navigate to the black sofa. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(black_sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47334239",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the toilet. You want to navigate to the bathtub. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(toilet), 2-turn_right(), 3-go_forward(bathtub)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0251_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the poster and facing the cabinet. You want to navigate to the trashbin. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(cabinet), 2-turn_left(), 3-go_forward(trashbin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/6115eddb86",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the chair and facing the table. You want to navigate to the apartment door. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45663164",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the hallway entrance and facing the door. You want to navigate to the refrigerator. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(trash_can), 2-Turn Right., 3-go_forward(refrigerator)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42897688",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the trash bin next to the door. You want to navigate to the window. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(wall), 3-turn_left(), 4-go_forward(window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0153_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the bathroom door facing the sink. You want to navigate to the bathtube. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(bathtube)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42446541",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the TV and facing the TV. You want to navigate to the dining table. You will perform the following 2 actions.",
+    "gt_answer": "1-Turn Left., 2-go_forward(dining_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42899739",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the nightstand near by the window and facing the closet. You want to navigate to the door. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(edge_of_the_bed), 2-turn_right(), 3-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47334254",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the oven and facing the dining table. You want to navigate to the gas stove. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(sink), 3-Turn Right., 4-go_forward(gas_stove)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42899698",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the bathroom sink facing the mirror. You want to navigate to the bathtube. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(bathtube)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/25f3b7a318",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the window and facing the waste bin. You want to navigate to the bathroom. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(waste_bin), 2-Turn Left., 3-go_forward(bathroom)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/41125760",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the toilet and facing the bathtub. You want to navigate to the towel rack. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(bathtub), 2-Turn Right., 3-go_forward(towel_rack)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42898486",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the display cabinet. You want to navigate to the 3-seater sofa. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(display_cabinet), 2-turn_left(), 3-go_forward(3-seater_sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0488_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sink and facing the sink. You want to navigate to the microwave. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(microwave)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45261182",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the mirror. You want to navigate to the bathroom sink. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(toilet), 2-turn_right(), 3-go_forward(bathroom_sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45662987",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the standing lamps. You want to navigate to the tv. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(sofa), 2-turn_left(), 3-go_forward(fireplace), 4-turn_right(), 5-go_forward(tv)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/41069048",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door facing the bathtub. You want to navigate to the toilet. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(bathroom_sink), 2-turn_right(), 3-go_forward(toilet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45662970",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the cabinet. You want to navigate to the window. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(cabinet), 2-turn_right(), 3-go_forward(window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47333457",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the head of the bed and facing the teddy bear and the windows. You want to navigate to the washer. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(cabinets), 3-turn_right(), 4-go_forward(doorway), 5-turn_left(), 6-go_forward(washer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0671_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the chair with the red backpack and facing the plant on the table. You want to navigate to the yellow backpack. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(trash_bin), 3-turn_left(), 4-go_forward(yellow_backpack)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42444976",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the refrigerator and facing the refrigerator. You want to navigate to the table. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(sink), 3-turn_right(), 4-go_forward(table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42899617",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing into the bathroom. You want to navigate to the bathtub. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(bathroom_sink), 2-turn_right(), 3-go_forward(bathtub)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0328_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sink facing the sink. You want to navigate to the microwave. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(refridgerator), 3-turn_right(), 4-go_forward(microwave)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/38d58a7a31",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the coat rack by the front door and facing the whiteboard. You want to navigate to the last heater in the back of the room. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(wall), 2-turn_right(), 3-go_forward(heater)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/a8bf42d646",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door with the clock above it and facing the door. You want to navigate to the blue machine. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(blue_machine)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47430475",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the window. You want to navigate to the window. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(bookshelf), 3-turn_left(), 4-go_forward(wall), 5-turn_left(), 6-go_forward(window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0193_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the chair and facing the window. You want to navigate to the trash bin. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(past_the_foot_of_the_bed), 3-turn_right(), 4-go_forward(trash_bin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/21d970d8de",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the red chair at the front of the classroom and facing the windows. You want to navigate to the window in the corner farthest from the door. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(sink), 3-turn_right(), 4-go_forward(wall), 5-turn_right(), 6-go_forward(window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0231_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the refrigerator, with your back to the fridge. You want to navigate to the trophies on the open shelving. You will perform the following 7 actions.",
+    "gt_answer": "1-go_forward(kitchen_island), 2-turn_right(), 3-go_forward(chairs), 4-turn_left(), 5-go_forward(past_the_column), 6-turn_right(), 7-go_forward(open_shelving)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/bde1e479ad",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the chair at the center-back of the room and facing the whiteboard. You want to navigate to the hand soap. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(desk_row_closest_to_the_whiteboard), 2-turn_right(), 3-go_forward(door), 4-turn_left(), 5-go_forward(hand_soap)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47429992",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the doorframe and facing the green plants on top of cabinet. You want to navigate to the laptop on the desk. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(end_of_the_cabinet), 2-turn_left(), 3-go_forward(chair), 4-Turn Right., 5-go_forward(laptop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47115525",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the window and facing the outside. You want to navigate to the door. You will perform the following 8 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(coffee_table), 3-turn_left(), 4-go_forward(fireplace), 5-turn_right(), 6-go_forward(sofa_with_the_two_blankets_on_it), 7-turn_right(), 8-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/44358518",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the printer and facing the window. You want to navigate to the lamp. You will perform the following 7 actions.",
+    "gt_answer": "1-go_forward(desk_chair), 2-turn_right(), 3-go_forward(sofa), 4-turn_left(), 5-go_forward(other_sofa_by_the_window), 6-turn_right(), 7-go_forward(lamp)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0496_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the board and facing the board. You want to navigate to the clock. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(window_and_the_chairs), 3-turn_right(), 4-go_forward(clock)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/41125731",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the nightstand and facing the nightstand. You want to navigate to the the wardrobe with two mirrors on it. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(end_of_the_bed), 3-turn_left(), 4-go_forward(bottom-right_corner_of_the_bed), 5-turn_left(), 6-go_forward(wardrobe)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/c5439f4607",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the computer and facing the computer. You want to navigate to the first aid cabinet. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(first_aid_cabinet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42897629",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the refrigerator and facing the refrigerator. You want to navigate to the Christmas tree. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(stove), 3-turn_left(), 4-go_forward(christmas_tree)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42899729",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the nightstand closest to the mirror and facing the mirror. You want to navigate to the nightstand closest to the window. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(wall), 3-turn_left(), 4-go_forward(wall), 5-turn_left(), 6-go_forward(nightstand_closest_to_the_window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45261594",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sink and facing the sink. You want to navigate to the toilet. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(doorway), 3-turn_left(), 4-go_forward(toilet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47115469",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing into the room. You want to navigate to the window. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(bathtub), 2-turn_left(), 3-go_forward(corner_of_the_shower_stall), 4-turn_right(), 5-go_forward(window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0593_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sofa and facing the wall behind the sofa. You want to navigate to the printer. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(paper_disposal_bin), 3-turn_left(), 4-go_forward(electric_fan), 5-turn_left(), 6-go_forward(printer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0277_02",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the door. You want to navigate to the window. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42899612",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the stairs and facing into the room. You want to navigate to the nightstand closer to the window. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(foot_of_the_bed), 2-turn_right(), 3-go_forward(wall), 4-turn_left(), 5-go_forward(nightstand)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0088_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the electronic white board and facing the electronic white board. You want to navigate to the TV. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(tv)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0149_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sink and facing the sink. You want to navigate to the refrigerator. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(wall), 3-turn_left(), 4-go_forward(refrigerator)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0574_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door with the locks and facing the door. You want to navigate to the sink. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(chair), 3-turn_right(), 4-go_forward(sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0648_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the desk closer to the window and facing the window. You want to navigate to the other desk. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(white_storage_bins), 3-turn_right(), 4-go_forward(desk)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/41254432",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the computer monitor and facing the speakers. You want to navigate to the trash bin. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(window_with_the_sofa_under_it), 3-turn_back(), 4-go_forward(wall), 5-turn_left(), 6-go_forward(trash_bin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0221_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the door. You want to navigate to the lamp. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(first_chair_is_on_your_right), 3-turn_left(), 4-go_forward(lamp)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0354_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the open door and facing the nearest red wall. You want to navigate to the TV. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(wall), 3-turn_left(), 4-go_forward(tv)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0474_04",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing into the room. You want to navigate to the backpack. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(corner_of_the_sofa), 2-turn_right(), 3-go_forward(corner_of_the_desk), 4-turn_left(), 5-go_forward(backpack)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42898527",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the stove and facing the stove. You want to navigate to the refrigerator. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(washer), 3-turn_right(), 4-go_forward(refrigerator)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0169_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the the red chair and facing the red chair. You want to navigate to the red backpack. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(black_chair), 3-turn_right(), 4-go_forward(past_the_central_table), 5-turn_right(), 6-go_forward(red_backpack)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0695_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the window and facing the window. You want to navigate to the door. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(wall), 3-turn_right(), 4-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/41159541",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the doorframe and facing into the room. You want to navigate to the tv. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(table), 2-turn_left(), 3-go_forward(1_foot_before_the_blue_sofa), 4-turn_right(), 5-go_forward(tv)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0568_02",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv and facing the tv. You want to navigate to the curtains. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(colorful_rug_is_right_in_front_of_me), 3-turn_right(), 4-go_forward(curtains)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42897528",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the doorway and facing the window. You want to navigate to the washer. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(sink), 2-turn_right(), 3-go_forward(washer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/ac48a9b736",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the brown door between two black chairs and facing the door. You want to navigate to the robot arm. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(chair_without_a_table_nearby), 3-turn_right(), 4-go_forward(robot_arm)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0077_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the trash can and facing the door. You want to navigate to the printer on the counter, closest to the window. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(counter), 3-turn_right(), 4-go_forward(desired_printer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/286b55a2bf",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the toilet and facing the toilet. You want to navigate to the shower head. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(wall), 3-turn_left(), 4-go_forward(shower_head)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0207_02",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the toilet and facing the toilet. You want to navigate to the refrigerator. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(bathroom_sink), 3-turn_left(), 4-go_forward(kitchen_counter), 5-turn_left(), 6-go_forward(refrigerator)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0697_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the dollhouse nearby the window and facing the window. You want to navigate to the hanging picture. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(cabinet_with_a_mirror_on_top_of_that), 3-turn_right(), 4-go_forward(hanging_picture)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0086_02",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the toilet in the larger stall and facing the toilet paper. You want to navigate to the sink on the left. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(wall), 3-turn_left(), 4-go_forward(a_door), 5-turn_left(), 6-go_forward(sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0356_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the table and facing the window. You want to navigate to the dresser. You will perform the following 3 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(door), 3-Turn Right.",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0553_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the trash bin and facing the toilet. You want to navigate to the backpack. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(backpack)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0357_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the closet and facing the closet. You want to navigate to the closed door. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(wall), 3-turn_left(), 4-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0500_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the blackboard and facing the blackboard. You want to navigate to the door. You will perform the following 5 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(small_table), 3-turn_right(), 4-go_forward(door), 5-Turn Left.",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0693_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the bathtub and facing the bathtub. You want to navigate to the sink. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(door), 3-turn_right(), 4-go_forward(sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0426_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the foot of the bed and facing the table. You want to navigate to the monitor in the dresser. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(chair_by_the_door), 3-turn_right(), 4-go_forward(chair_by_the_wardrobe)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/7b6477cb95",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the electric fan and facing the whiteboard near the electric fan. You want to navigate to the other whiteboard. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(wall), 3-turn_left(), 4-go_forward(target_whiteboard_is_on_your_right)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42446056",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the foot of the bed facing the open door. You want to navigate to the red table. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(door), 2-turn_left(), 3-go_forward(red_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45261575",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the cabinet next to the foot of the bed facing the cabinet next to the foot of the bed. You want to navigate to the tv. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(open_door), 3-turn_left(), 4-go_forward(tv)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45260856",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the mirror beside the bed and facing the same mirror. You want to navigate to the door. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(chair_by_the_window), 3-turn_right(), 4-go_forward(other_chair_by_the_window), 5-turn_right(), 6-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47430023",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the sofa. You want to navigate to the table. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(tv), 3-turn_left(), 4-go_forward(table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0701_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the white column and facing the short end of the U-shaped sofa. You want to navigate to the backpack. You will perform the following 9 actions.",
+    "gt_answer": "1-go_forward(sofa), 2-turn_left(), 3-go_forward(table), 4-turn_right(), 5-go_forward(sofa), 6-turn_left(), 7-go_forward(sofa), 8-turn_left(), 9-go_forward(backpack)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0580_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the lamp. You want to navigate to the bookshelf. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(wall), 3-turn_left(), 4-go_forward(bookshelf)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47334117",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the closet. You want to navigate to the heater. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(closet), 2-turn_left(), 3-go_forward(window), 4-turn_right(), 5-go_forward(heater)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47115460",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the doorframe and facing the door. You want to navigate to the trash bin. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(sink), 3-turn_left(), 4-go_forward(trash_bin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47334107",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the mirror. You want to navigate to the toilet. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(sink), 2-turn_right(), 3-go_forward(toilet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0025_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the door. You want to navigate to the telephone. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(sofa_under_the_whiteboard), 3-turn_right(), 4-go_forward(telephone)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47331262",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the corner of the table towards the sofa and facing the table. You want to navigate to the corner fan. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(bookshelf), 3-turn_right(), 4-go_forward(wall)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/825d228aec",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the printer and facing the plugin. You want to navigate to the trash can. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(wall), 3-turn_left(), 4-go_forward(trash_can)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42445984",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the stair and facing the table. You want to navigate to the fireplace. You will perform the following 7 actions.",
+    "gt_answer": "1-go_forward(table), 2-turn_right(), 3-go_forward(wall), 4-turn_left(), 5-go_forward(edge_of_the_table), 6-turn_left(), 7-go_forward(third_chair)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47333932",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the door. You want to navigate to the bouquet of purple and green flowers. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(wardrobe), 2-turn_left(), 3-go_forward(desk)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47429998",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the bed. You want to navigate to the plant. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(foot_of_the_bed), 2-turn_right(), 3-go_forward(plant)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47204552",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv facing the tv. You want to navigate to the sofa. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/44358536",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the toilet facing the toilet. You want to navigate to the bathtub. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(bathtub)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47332918",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the TV facing the TV. You want to navigate to the bed. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(bed)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0458_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sink and facing the mirror. You want to navigate to the window. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(door), 3-turn_right(), 4-go_forward(window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42446103",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv and facing the tv. You want to navigate to the sofa. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(blue_desk), 3-turn_right(), 4-go_forward(sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/f3685d06a9",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the mirror facing the mirror. You want to navigate to the the toilet closest to the entrance door. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(entrance_door), 3-turn_right(), 4-go_forward(toilet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/44358436",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sofa facing the sofa. You want to navigate to the the desk with monitor. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(desk_with_monitor)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42897538",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv facing the lamp. You want to navigate to the 2 seater sofa. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(window), 3-turn_right(), 4-go_forward(2_seater_sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0633_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the bed facing the bed with the window on your left. You want to navigate to the sofa. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0518_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv facing the tv. You want to navigate to the table. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0307_02",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the washing machine facing the washing machine. You want to navigate to the shower. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(shelf), 3-turn_right(), 4-go_forward(shower)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0621_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the the blackboard near the door facing the blackboard. You want to navigate to the the blue chair. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(blue_chair)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47333940",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the TV and facing the TV. You want to navigate to the terrace. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(terrace_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45261142",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the yellow sofa facing the yellow sofa. You want to navigate to the tv on the table with two flowers. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47204607",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv facing the tv. You want to navigate to the the single seater silver sofa. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42446049",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the the refrigerator facing the refrigerator. You want to navigate to the the dish washer. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(dish_washer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0645_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the TV and facing the TV. You want to navigate to the glass coffee table. You will perform the following 2 actions.",
+    "gt_answer": "1-Turn Back., 2-go_forward(coffee_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/3f15a9266d",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the yellow bookshelf facing the yellow bookshelf. You want to navigate to the the table with two monitors. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(table_with_two_monitors)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/27dd4da69e",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the the washer facing the washer. You want to navigate to the the white cabinet near the blue box. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(wall), 3-turn_right(), 4-go_forward(white_cabinet_near_the_blue_box)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0575_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the corner of the white wall and the brown wall, facing the glass door. You want to navigate to the green chair closest to the TVs. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(glass_door), 2-turn_left(), 3-go_forward(green_chair)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0565_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the the door with a glass panel facing the gray cart. You want to navigate to the printer. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(box_of_wires), 3-turn_right(), 4-go_forward(printer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0462_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the the paper shredder box facing the opened door. You want to navigate to the the green bucket. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(green_bucket)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47332886",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the computer facing out the window. You want to navigate to the bookshelf near the door. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(mattress_on_the_floor), 3-turn_left(), 4-go_forward(bookshelf_near_the_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0699_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the standing by the air conditioner and facing the outside of room. You want to navigate to the toilet. You will perform the following 7 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(wall), 3-turn_right(), 4-go_forward(door), 5-turn_left(), 6-go_forward(door_of_toilet), 7-Turn Left.",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0435_02",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the standing by the window and facing the window. You want to navigate to the white shoes. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(bed), 3-turn_left(), 4-go_forward(white_shoes)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47331331",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning by the chair and facing the window. You want to navigate to the door. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(past_the_bed), 3-turn_left(), 4-go_forward(wall), 5-turn_right(), 6-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/acd95847c5",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the laptop and facing the telephone next to it. You want to navigate to the headphone on the table opposite. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(coat_rack_on_the_wall), 3-turn_left(), 4-go_forward(whiteboard), 5-turn_left(), 6-go_forward(headphone_on_your_left)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45663105",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the mirror and facing the clock. You want to navigate to the sofa. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(wall), 3-turn_right(), 4-go_forward(double_wood_doors_to_the_living_room), 5-turn_left(), 6-go_forward(sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42898849",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the stove and facing the clock . You want to navigate to the Christmas tree. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(sink), 3-turn_right(), 4-go_forward(window), 5-turn_right(), 6-go_forward(christmas_tree)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47430468",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv and facing the dinning table. You want to navigate to the sink. You will perform the following 7 actions.",
+    "gt_answer": "1-go_forward(two-seats_sofa_facing_the_tv), 2-turn_left(), 3-go_forward(another_two-seats_sofa_under_a_clock), 4-turn_right(), 5-go_forward(edge_of_the_dinning_table), 6-turn_left(), 7-go_forward(sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45261121",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the refrigerator and facing the table. You want to navigate to the tv. You will perform the following 5 actions.",
+    "gt_answer": "1-go_forward(corner_of_the_table), 2-turn_right(), 3-go_forward(counter), 4-turn_left(), 5-go_forward(tv)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/5f99900f09",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the refrigerator and facing the refrigerator. You want to navigate to the recycling bin. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(suitcase), 3-turn_left(), 4-go_forward(printer), 5-turn_right(), 6-go_forward(recycling_bin)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47331068",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the toilet and facing the bathtub. You want to navigate to the blue bucket. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(bathtub), 2-turn_right(), 3-go_forward(blue_bucket)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/45260900",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sink and facing the sink. You want to navigate to the toilet. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(open_door), 3-turn_left(), 4-go_forward(heater), 5-turn_left(), 6-go_forward(toilet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0246_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the toilet and facing the red curtain  . You want to navigate to the blue pillow. You will perform the following 7 actions.",
+    "gt_answer": "1-go_forward(chair), 2-turn_left(), 3-go_forward(corner_of_the_bed), 4-turn_left(), 5-go_forward(mirror), 6-turn_left(), 7-go_forward(blue_pillow)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47333441",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sink and facing the sink. You want to navigate to the washer. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(toilet), 3-turn_right(), 4-go_forward(washer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/41125700",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv and facing the sofa. You want to navigate to the microwave. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(sink), 3-turn_right(), 4-go_forward(microwave)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0702_02",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the telephone and facing the telephone. You want to navigate to the bathtub. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(bathtub)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0412_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the orange traffic cone and facing the sink. You want to navigate to the elevator. You will perform the following 8 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(metal_rack), 3-turn_right(), 4-go_forward(cardboard_boxes), 5-turn_left(), 6-go_forward(trash_bin), 7-turn_right(), 8-go_forward(elevator)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/a24f64f7fb",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the chair and facing the monitor. You want to navigate to the closet. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(red_curtain), 3-turn_right(), 4-go_forward(closet)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42897564",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the window. You want to navigate to the window. You will perform the following 7 actions.",
+    "gt_answer": "1-go_forward(chair), 2-turn_left(), 3-go_forward(mirror), 4-turn_right(), 5-go_forward(wall), 6-turn_right(), 7-go_forward(window_on_your_left)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47331668",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the bed. You want to navigate to the tv. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(heater), 3-turn_right(), 4-go_forward(tv)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/5eb31827b7",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the red trash bin under the map. You want to navigate to the wood pallet. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(heater), 3-turn_left(), 4-go_forward(silver_dell_laptop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/44358499",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the washing machine and facing the stove. You want to navigate to the fireplace. You will perform the following 7 actions.",
+    "gt_answer": "1-go_forward(sink), 2-turn_left(), 3-go_forward(dining_table), 4-turn_left(), 5-go_forward(tv), 6-turn_right(), 7-go_forward(fireplace)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/41142280",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the trash can and facing toward the door. You want to navigate to the bathroom sink. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(wall), 2-turn_right(), 3-go_forward(bathroom_sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47331644",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the stool by the radiator and facing the large speakers. You want to navigate to the dining table. You will perform the following 7 actions.",
+    "gt_answer": "1-go_forward(plant), 2-turn_left(), 3-go_forward(on_the_rug), 4-turn_right(), 5-go_forward(wicker_chair), 6-turn_left(), 7-go_forward(dining_table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42897647",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv and facing the windows. You want to navigate to the kitchen. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(red_sofa), 3-turn_right(), 4-go_forward(corner_of_the_rug), 5-turn_left(), 6-go_forward(kitchen)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0664_02",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the trash can and facing the toilet. You want to navigate to the bathtub. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(door), 3-turn_right(), 4-go_forward(bathtub)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42897550",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the bathtub. You want to navigate to the bathroom sink. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(bathtub), 2-turn_right(), 3-go_forward(bathroom_sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47333899",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the red chair facing the other chair. You want to navigate to the dishwasher. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(dishwasher)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0304_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the backpack facing the backpack. You want to navigate to the door. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(po_boxes), 3-turn_left(), 4-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47430038",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the table facing the window. You want to navigate to the kitchen door. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(kitchen_door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42898817",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the sink facing the sink. You want to navigate to the washer. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(washer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0144_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the printer facing the printer. You want to navigate to the laptop. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(end_of_the_bed), 3-turn_left(), 4-go_forward(laptop)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42899725",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the toilet facing the bath tub. You want to navigate to the door. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42444950",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the closet and facing the closet. You want to navigate to the door next to the Chaplin poster. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(table), 3-turn_right(), 4-go_forward(door_next_to_the_chaplin_poster)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47332901",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the fridge facing the fridge. You want to navigate to the oven . You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(window_is_on_your_right), 3-turn_left(), 4-go_forward(oven_is_on_your_right)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47334103",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the blue built-in bookshelf facing the blue built-in bookshelf. You want to navigate to the bathroom sink . You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(door_of_the_bathroom), 3-turn_left(), 4-go_forward(sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47331319",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the red cabinet right next to the kitchen facing the red cabinet right next to the kitchen. You want to navigate to the white single-seat sofa. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(white_single-seat_sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0461_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the side table and facing the window. You want to navigate to the coffee table. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(table)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47334238",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the vase of flowers and facing the windows. You want to navigate to the door. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(cabinet), 2-turn_right(), 3-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42898544",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the nightstand closer to the window and facing the cabinet. You want to navigate to the electric fan. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(past_the_corner_of_the_bed), 2-turn_left(), 3-go_forward(electric_fan)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42898869",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the red candles and facing the window. You want to navigate to the door. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(sofa_with_heaters_positioned_behind_it), 3-turn_right(), 4-go_forward(door)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/41069043",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the tv remote and facing the tv. You want to navigate to the window. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(bed), 3-turn_left(), 4-go_forward(wall), 5-turn_right(), 6-go_forward(window)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0653_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the white box on the floor and facing the desk chair with the blue masking tape on its arm. You want to navigate to the grey backpack. You will perform the following 2 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(grey_backpack)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0685_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the trash bin and facing the gray wall behind the trash bin. You want to navigate to the black printer. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(middle_of_the_door), 3-turn_right(), 4-go_forward(black_printer)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0196_00",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the trash bin near the door and facing the door. You want to navigate to the whiteboard. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_back(), 2-go_forward(desk), 3-turn_left(), 4-go_forward(whiteboard)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/scene0378_01",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the door and facing the door. You want to navigate to the monitor. You will perform the following 6 actions.",
+    "gt_answer": "1-turn_left(), 2-go_forward(blackboard), 3-turn_left(), 4-go_forward(black_chair), 5-turn_left(), 6-go_forward(monitor)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/47331654",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the heater and facing the refrigerator. You want to navigate to the sink. You will perform the following 4 actions.",
+    "gt_answer": "1-turn_right(), 2-go_forward(stove), 3-turn_right(), 4-go_forward(sink)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42445026",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the doorframe and facing the tv. You want to navigate to the sofa. You will perform the following 3 actions.",
+    "gt_answer": "1-go_forward(tv), 2-turn_right(), 3-go_forward(sofa)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_task/navigation/images/42446529",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_task",
+      "navigation"
+    ],
+    "input_type": "video",
+    "question": "You are a robot beginning at the closet and facing the heater. You want to navigate to the black nightstand. You will perform the following 7 actions.",
+    "gt_answer": "1-go_forward(bed), 2-turn_right(), 3-go_forward(wall), 4-turn_left(), 5-go_forward(window), 6-turn_left(), 7-go_forward(nightstand)",
+    "image_urls": [
+      "frame_00.png",
+      "frame_01.png",
+      "frame_02.png",
+      "frame_03.png",
+      "frame_04.png",
+      "frame_05.png",
+      "frame_06.png",
+      "frame_07.png",
+      "frame_08.png",
+      "frame_09.png",
+      "frame_10.png",
+      "frame_11.png",
+      "frame_12.png",
+      "frame_13.png",
+      "frame_14.png",
+      "frame_15.png",
+      "frame_16.png",
+      "frame_17.png",
+      "frame_18.png",
+      "frame_19.png",
+      "frame_20.png",
+      "frame_21.png",
+      "frame_22.png",
+      "frame_23.png",
+      "frame_24.png",
+      "frame_25.png",
+      "frame_26.png",
+      "frame_27.png",
+      "frame_28.png",
+      "frame_29.png"
+    ],
+    "robotic_type": "navigation"
+  }
+]
\ No newline at end of file
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+      "left:grasp('a'_block),right:no_ops",
+      "left:pick_up('a'_block),right:no_ops",
+      "left:place('a'_block, left_of_table),right:no_ops",
+      "left:move_to(none,'b'_block),right:no_ops",
+      "left:grasp('b'_block),right:no_ops",
+      "left:pick_up('b'_block),right:no_ops",
+      "left:place('b'_block,right_of_'a'_block), right:no_ops",
+      "left:no_ops,right:move_to(none, 'd'_block)",
+      "left:no_ops,right:grasp('d'_block)",
+      "left:no_ops, right:pick_up('d'_block)",
+      "left:no_ops,right:place('d'_clock,right_of_'c'_clock)"
+    ],
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+      ],
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+      "left:no_ops, right:pick_up('d'_block)": [
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+      ],
+      "left:no_ops,right:place('d'_clock,right_of_'c'_clock)": []
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+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_arrange_word_ABCD_episode_2.png"
+  },
+  {
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+      "left:grasp('0'_block), right:no_ops",
+      "left:pick_up('0'_block), right:no_ops",
+      "left:place('0'_block,left_of_table) right:no_ops",
+      "left:move_to(none,'2'_block), right:no_ops",
+      "left:grasp('2'_block), right:no_ops",
+      "left:pick_up('2'_block),right:no_ops",
+      "left:place('2'_block, left_of_'0'_block), right:no_ops",
+      "left:no_ops,right:move_to(none,'2'_block)",
+      "left:no_ops,right:grasp('2'_block)",
+      "left:no_ops,right:pick_up('2'_block)",
+      "left:no_ops right:place('2'_block,right_of_'0'_block)"
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+      "left:grasp('0'_block), right:no_ops": [],
+      "left:pick_up('0'_block), right:no_ops": [],
+      "left:place('0'_block,left_of_table) right:no_ops": [],
+      "left:move_to(none,'2'_block), right:no_ops": [],
+      "left:grasp('2'_block), right:no_ops": [],
+      "left:pick_up('2'_block),right:no_ops": [],
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+      "left:no_ops,right:grasp('2'_block)": [],
+      "left:no_ops,right:pick_up('2'_block)": [],
+      "left:no_ops right:place('2'_block,right_of_'0'_block)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_arrange_word_2024_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_LEARNING_episode_0",
+    "actions_list": [
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+      "left:grasp('r'_block), right:no_ops",
+      "left:pick_up('r'_block), right:no_ops",
+      "left:place('r'_block,left_of_'n'_block), right:no_ops",
+      "left:move_to(none,'e'_block), right:no_ops",
+      "left:grasp('e'_block), right:no_ops",
+      "left:pick_up('e'_block), right:no_ops",
+      "left:place('e'_block,right_of_'l'_block), right:no_ops",
+      "left:move_to(none,'a'_block), right:no_ops",
+      "left:grasp('a'_block), right:no_ops",
+      "left: pick_up('a'_block), right:no_ops",
+      "left:place('a'_block,right_of_'e'_block), right:no_ops"
+    ],
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+        "left:grasp('r'_block), right:no_ops"
+      ],
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+        "left:pick_up('r'_block), right:no_ops"
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+      ],
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+      ],
+      "left:place('a'_block,right_of_'e'_block), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_arrange_word_LEARNING_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_car_episode_2",
+    "actions_list": [
+      "left:move_to(none, letter_'c'), right:no_ops",
+      "left:grasp(letter_'c'), right:no_ops",
+      "left:pick_up(letter_'c'), right:no_ops",
+      "left:place(letter_'c',left_of_table), right:no_ops",
+      "left:no_ops, right:move_to(none,letter_'a')",
+      "left:no_ops, right:grasp(letter_'a')",
+      "left:no_ops, right:pick_up(letter_'a')",
+      "left:no_ops, right:place(letter_'a',right_of_'c')",
+      "left:no_ops, right:move_to(none, letter_'r')",
+      "left:no_ops, right:grasp(letter_'r')",
+      "left:no_ops, right:pick_up(letter_'r')",
+      "left:no_ops, right:place(letter_'r',right_of_'a')"
+    ],
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+      "left:move_to(none, letter_'c'), right:no_ops": [
+        "left:grasp(letter_'c'), right:no_ops"
+      ],
+      "left:grasp(letter_'c'), right:no_ops": [
+        "left:pick_up(letter_'c'), right:no_ops"
+      ],
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+  },
+  {
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+      "left:no_ops, right:grasp(letter_'s')",
+      "left:no_ops, right:pick_up(letter_'s')",
+      "left:no_ops, right:place(letter_'s',left_of_table)",
+      "left:no_ops, right:move_to(none, letter_'k')",
+      "left:no_ops, right:grasp(letter_'k')",
+      "left:no_ops, right:pick_up(letter_'k')",
+      "left:no_ops, right:place(letter_'k',right_of_'s')",
+      "left:no_ops, right: move_to(none, letter_'y')",
+      "left:no_ops, right:grasp(letter_'y')",
+      "left:no_ops, right:pick_up(letter_'y')",
+      "left:no_ops, right:place(letter_'y',right_of_'k')"
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+        "left:no_ops, right:grasp(letter_'s')"
+      ],
+      "left:no_ops, right:grasp(letter_'s')": [
+        "left:no_ops, right:pick_up(letter_'s')"
+      ],
+      "left:no_ops, right:pick_up(letter_'s')": [
+        "left:no_ops, right:place(letter_'s',left_of_table)"
+      ],
+      "left:no_ops, right:place(letter_'s',left_of_table)": [
+        "left:no_ops, right:move_to(none, letter_'k')"
+      ],
+      "left:no_ops, right:move_to(none, letter_'k')": [
+        "left:no_ops, right:grasp(letter_'k')"
+      ],
+      "left:no_ops, right:grasp(letter_'k')": [
+        "left:no_ops, right:pick_up(letter_'k')"
+      ],
+      "left:no_ops, right:pick_up(letter_'k')": [
+        "left:no_ops, right:place(letter_'k',right_of_'s')"
+      ],
+      "left:no_ops, right:place(letter_'k',right_of_'s')": [
+        "left:no_ops, right: move_to(none, letter_'y')"
+      ],
+      "left:no_ops, right: move_to(none, letter_'y')": [
+        "left:no_ops, right:grasp(letter_'y')"
+      ],
+      "left:no_ops, right:grasp(letter_'y')": [
+        "left:no_ops, right:pick_up(letter_'y')"
+      ],
+      "left:no_ops, right:pick_up(letter_'y')": [
+        "left:no_ops, right:place(letter_'y',right_of_'k')"
+      ],
+      "left:no_ops, right:place(letter_'y',right_of_'k')": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_spell_sky_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_line_episode_1",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, pen)",
+      "left:no_ops, right:grasp(pen)",
+      "left:no_ops, right:pick_up(pen)",
+      "left:no_ops, right:draw(pen,a_straight_line,whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, pen)": [
+        "left:no_ops, right:grasp(pen)"
+      ],
+      "left:no_ops, right:grasp(pen)": [
+        "left:no_ops, right:pick_up(pen)"
+      ],
+      "left:no_ops, right:pick_up(pen)": [
+        "left:no_ops, right:draw(pen,a_straight_line,whiteboard)"
+      ],
+      "left:no_ops, right:draw(pen,a_straight_line,whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_draw_line_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_cool_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, letter_'c')",
+      "left:no_ops, right:grasp(letter_'c')",
+      "left:no_ops, right:pick_up(letter_'c')",
+      "left:no_ops, right:place(letter_'c',left_of_table)",
+      "left:no_ops, right:move_to(none, letter_'o')",
+      "left:no_ops, right:grasp(letter_'o')",
+      "left:no_ops, right:pick_up(letter_'o')",
+      "left:no_ops, right:place(letter_'o',right_of_'c')",
+      "left:no_ops, right:move_to(none, letter_'o')",
+      "left:no_ops, right:grasp(letter_'o')",
+      "left:no_ops, right:pick_up(letter_'o')",
+      "left:no_ops, right:place(letter_'c',right_of_'c')",
+      "left:no_ops, right:move_to(none, letter_'l')",
+      "left:no_ops, right:grasp(letter_'l')",
+      "left:no_ops, right:pick_up(letter_'l')",
+      "left:no_ops, right:place(letter_'l',right_of_'c')"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, letter_'c')": [
+        "left:no_ops, right:grasp(letter_'c')"
+      ],
+      "left:no_ops, right:grasp(letter_'c')": [
+        "left:no_ops, right:pick_up(letter_'c')"
+      ],
+      "left:no_ops, right:pick_up(letter_'c')": [
+        "left:no_ops, right:place(letter_'c',left_of_table)"
+      ],
+      "left:no_ops, right:place(letter_'c',left_of_table)": [
+        "left:no_ops, right:move_to(none, letter_'o')",
+        "left:no_ops, right:move_to(none, letter_'o')<1>"
+      ],
+      "left:no_ops, right:place(letter_'o',right_of_'c')": [
+        "left:no_ops, right:move_to(none, letter_'l')"
+      ],
+      "left:no_ops, right:move_to(none, letter_'o')": [
+        "left:no_ops, right:grasp(letter_'o')"
+      ],
+      "left:no_ops, right:grasp(letter_'o')": [
+        "left:no_ops, right:pick_up(letter_'o')"
+      ],
+      "left:no_ops, right:pick_up(letter_'o')": [
+        "left:no_ops, right:place(letter_'o',right_of_'c')"
+      ],
+      "left:no_ops, right:place(letter_'c',right_of_'c')": [
+        "left:no_ops, right:move_to(none, letter_'l')"
+      ],
+      "left:no_ops, right:move_to(none, letter_'l')": [
+        "left:no_ops, right:grasp(letter_'l')"
+      ],
+      "left:no_ops, right:grasp(letter_'l')": [
+        "left:no_ops, right:pick_up(letter_'l')"
+      ],
+      "left:no_ops, right:pick_up(letter_'l')": [
+        "left:no_ops, right:place(letter_'l',right_of_'c')"
+      ],
+      "left:no_ops, right:place(letter_'l',right_of_'c')": [],
+      "left:no_ops, right:move_to(none, letter_'o')<1>": [
+        "left:no_ops, right:grasp(letter_'o')<1>"
+      ],
+      "left:no_ops, right:grasp(letter_'o')<1>": [
+        "left:no_ops, right:pick_up(letter_'o')<1>"
+      ],
+      "left:no_ops, right:pick_up(letter_'o')<1>": [
+        "left:no_ops, right:place(letter_'c',right_of_'c')"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_spell_cool_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_cross_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none,pen)",
+      "left:no_ops, right:grasp(pen)",
+      "left:no_ops, right:pick_up(pen)",
+      "left:no_ops, right:draw(pen,cross,whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none,pen)": [
+        "left:no_ops, right:grasp(pen)"
+      ],
+      "left:no_ops, right:grasp(pen)": [
+        "left:no_ops, right:pick_up(pen)"
+      ],
+      "left:no_ops, right:pick_up(pen)": [
+        "left:no_ops, right:draw(pen,cross,whiteboard)"
+      ],
+      "left:no_ops, right:draw(pen,cross,whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_draw_cross_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_love_episode_0",
+    "actions_list": [
+      "left:move_to(none, letter_'l'), right:no_ops",
+      "left:grasp(letter_'l'), right:no_ops",
+      "left:pick_up(letter_'l'), right:no_ops",
+      "left:place(letter_'l',left_of_table), right:no_ops",
+      "left:no_ops, right:move_to(none, letter_'o')",
+      "left:no_ops, right:grasp(letter_'o')",
+      "left:no_ops, right:pick_up(letter_'o')",
+      "left:no_ops, right:place(letter_'o', right_of_'l')",
+      "left:no_ops, right:move_to(none, letter_'v')",
+      "left:no_ops, right:grasp(letter_'v')",
+      "left:no_ops, right:pick_up(letter_'v')",
+      "left:no_ops, right:place(letter_'l', right_of_'v')",
+      "left:no_ops, right:move_to(none, letter_'e')",
+      "left:no_ops, right:grasp(letter_'e')",
+      "left:no_ops, right:pick_up(letter_'e')",
+      "left:no_ops, right:place(letter_'e', right_of_'v')"
+    ],
+    "gt_dag": {
+      "left:move_to(none, letter_'l'), right:no_ops": [
+        "left:grasp(letter_'l'), right:no_ops"
+      ],
+      "left:grasp(letter_'l'), right:no_ops": [
+        "left:pick_up(letter_'l'), right:no_ops"
+      ],
+      "left:pick_up(letter_'l'), right:no_ops": [
+        "left:place(letter_'l',left_of_table), right:no_ops"
+      ],
+      "left:place(letter_'l',left_of_table), right:no_ops": [
+        "left:no_ops, right:move_to(none, letter_'o')"
+      ],
+      "left:no_ops, right:move_to(none, letter_'o')": [
+        "left:no_ops, right:grasp(letter_'o')"
+      ],
+      "left:no_ops, right:grasp(letter_'o')": [
+        "left:no_ops, right:pick_up(letter_'o')"
+      ],
+      "left:no_ops, right:pick_up(letter_'o')": [
+        "left:no_ops, right:place(letter_'o', right_of_'l')"
+      ],
+      "left:no_ops, right:place(letter_'o', right_of_'l')": [
+        "left:no_ops, right:move_to(none, letter_'v')"
+      ],
+      "left:no_ops, right:move_to(none, letter_'v')": [
+        "left:no_ops, right:grasp(letter_'v')"
+      ],
+      "left:no_ops, right:grasp(letter_'v')": [
+        "left:no_ops, right:pick_up(letter_'v')"
+      ],
+      "left:no_ops, right:pick_up(letter_'v')": [
+        "left:no_ops, right:place(letter_'l', right_of_'v')"
+      ],
+      "left:no_ops, right:place(letter_'l', right_of_'v')": [
+        "left:no_ops, right:move_to(none, letter_'e')"
+      ],
+      "left:no_ops, right:move_to(none, letter_'e')": [
+        "left:no_ops, right:grasp(letter_'e')"
+      ],
+      "left:no_ops, right:grasp(letter_'e')": [
+        "left:no_ops, right:pick_up(letter_'e')"
+      ],
+      "left:no_ops, right:pick_up(letter_'e')": [
+        "left:no_ops, right:place(letter_'e', right_of_'v')"
+      ],
+      "left:no_ops, right:place(letter_'e', right_of_'v')": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_spell_love_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_char_A_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(pen, whiteboard)",
+      "left:no_ops, right:grasp(pen)",
+      "left:no_ops, right:pick_up(pen)",
+      "left:no_ops, right:draw(pen,letter_'A',whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(pen, whiteboard)": [
+        "left:no_ops, right:grasp(pen)"
+      ],
+      "left:no_ops, right:grasp(pen)": [
+        "left:no_ops, right:pick_up(pen)"
+      ],
+      "left:no_ops, right:pick_up(pen)": [
+        "left:no_ops, right:draw(pen,letter_'A',whiteboard)"
+      ],
+      "left:no_ops, right:draw(pen,letter_'A',whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_draw_char_A_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_1",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, pink_cylinder_block)",
+      "left:no_ops, right:grasp(pink_cylinder_block)",
+      "left:no_ops, right:pick_up(pink_cylinder_block)",
+      "left:no_ops, right:place(pink_cylinder_block,bracket)",
+      "left:no_ops, right:grasp(pink_cylinder_block)",
+      "left:no_ops, right:pick_up(pink_cylinder_block)",
+      "left:no_ops, right:insert(pink_cylinder_block,slot)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, pink_cylinder_block)": [
+        "left:no_ops, right:grasp(pink_cylinder_block)"
+      ],
+      "left:no_ops, right:place(pink_cylinder_block,bracket)": [
+        "left:no_ops, right:grasp(pink_cylinder_block)<1>"
+      ],
+      "left:no_ops, right:grasp(pink_cylinder_block)": [
+        "left:no_ops, right:pick_up(pink_cylinder_block)"
+      ],
+      "left:no_ops, right:pick_up(pink_cylinder_block)": [
+        "left:no_ops, right:place(pink_cylinder_block,bracket)"
+      ],
+      "left:no_ops, right:insert(pink_cylinder_block,slot)": [],
+      "left:no_ops, right:grasp(pink_cylinder_block)<1>": [
+        "left:no_ops, right:pick_up(pink_cylinder_block)<1>"
+      ],
+      "left:no_ops, right:pick_up(pink_cylinder_block)<1>": [
+        "left:no_ops, right:insert(pink_cylinder_block,slot)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_3",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, purple_block)",
+      "left:no_ops, right:grasp(purple_block)",
+      "left:no_ops, right:pick_up(purple_block)",
+      "left:no_ops, right:move_to(purple_object, blue_slotted_platform)",
+      "left:no_ops, right:place(purple_block, bracket)",
+      "left:no_ops, right:grasp(purple_block)",
+      "left:no_ops, right:pick_up(purple_block)",
+      "left:no_ops, right:insert(purple_block,slot)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, purple_block)": [
+        "left:no_ops, right:grasp(purple_block)"
+      ],
+      "left:no_ops, right:move_to(purple_object, blue_slotted_platform)": [
+        "left:no_ops, right:place(purple_block, bracket)"
+      ],
+      "left:no_ops, right:place(purple_block, bracket)": [
+        "left:no_ops, right:grasp(purple_block)<1>"
+      ],
+      "left:no_ops, right:grasp(purple_block)": [
+        "left:no_ops, right:pick_up(purple_block)"
+      ],
+      "left:no_ops, right:pick_up(purple_block)": [
+        "left:no_ops, right:move_to(purple_object, blue_slotted_platform)"
+      ],
+      "left:no_ops, right:insert(purple_block,slot)": [],
+      "left:no_ops, right:grasp(purple_block)<1>": [
+        "left:no_ops, right:pick_up(purple_block)<1>"
+      ],
+      "left:no_ops, right:pick_up(purple_block)<1>": [
+        "left:no_ops, right:insert(purple_block,slot)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_6",
+    "actions_list": [
+      "left:move_to(none,blue_cylinder_block), right:no_ops",
+      "left:grasp(blue_cylinder_block), right:no_ops",
+      "left:pick_up(blue_cylinder_block), right:no_ops",
+      "left:place(blue_cylinder_block,bracket), right:no_ops",
+      "left:grasp(blue_cylinder_block), right:no_ops",
+      "left:pick_up(blue_cylinder_block), right:no_ops",
+      "left:insert(blue_cylinder_block,slot), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,blue_cylinder_block), right:no_ops": [
+        "left:grasp(blue_cylinder_block), right:no_ops"
+      ],
+      "left:place(blue_cylinder_block,bracket), right:no_ops": [
+        "left:grasp(blue_cylinder_block), right:no_ops left:pick_up(blue_cylinder_block), right:no_ops"
+      ],
+      "left:grasp(blue_cylinder_block), right:no_ops": [
+        "left:pick_up(blue_cylinder_block), right:no_ops"
+      ],
+      "left:pick_up(blue_cylinder_block), right:no_ops": [
+        "left:place(blue_cylinder_block,bracket), right:no_ops"
+      ],
+      "left:insert(blue_cylinder_block,slot), right:no_ops": [],
+      "left:grasp(blue_cylinder_block), right:no_ops left:pick_up(blue_cylinder_block), right:no_ops": [
+        "left:insert(blue_cylinder_block,slot), right:no_ops"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_8",
+    "actions_list": [
+      "move_to(none, star_object)",
+      "pick_up(star_object)",
+      "move_to(star_object, designated_slot)",
+      "insert(star, slot)"
+    ],
+    "gt_dag": {
+      "move_to(none, star_object)": [
+        "pick_up(star_object)"
+      ],
+      "pick_up(star_object)": [
+        "move_to(star_object, designated_slot)"
+      ],
+      "move_to(star_object, designated_slot)": [
+        "insert(star, slot)"
+      ],
+      "insert(star, slot)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_9",
+    "actions_list": [
+      "move_to(none, arch_shaped_object)",
+      "grasp(arch_shaped_object)",
+      "pick_up(arch_shaped_object)",
+      "move_to(arch_shaped_object, matching_slot)",
+      "insert(arch_shaped_object, slot)"
+    ],
+    "gt_dag": {
+      "move_to(none, arch_shaped_object)": [
+        "grasp(arch_shaped_object)"
+      ],
+      "grasp(arch_shaped_object)": [
+        "pick_up(arch_shaped_object)"
+      ],
+      "pick_up(arch_shaped_object)": [
+        "move_to(arch_shaped_object, matching_slot)"
+      ],
+      "move_to(arch_shaped_object, matching_slot)": [
+        "insert(arch_shaped_object, slot)"
+      ],
+      "insert(arch_shaped_object, slot)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_10",
+    "actions_list": [
+      "left:move_to(none, blue_cylinder_block), right:no_ops",
+      "left:grasp(blue_cylinder_block), right:no_ops",
+      "left:pick_up(blue_cylinder_block), right:no_ops",
+      "left:place(blue_cylinder_block,bracket), right:no_ops",
+      "left:grasp(blue_cylinder_block), right:no_ops",
+      "left:pick_up(blue_cylinder_block), right:no_ops",
+      "left:insert(blue_cylinder_block,slot), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, blue_cylinder_block), right:no_ops": [
+        "left:grasp(blue_cylinder_block), right:no_ops"
+      ],
+      "left:place(blue_cylinder_block,bracket), right:no_ops": [
+        "left:grasp(blue_cylinder_block), right:no_ops<1>"
+      ],
+      "left:grasp(blue_cylinder_block), right:no_ops": [
+        "left:pick_up(blue_cylinder_block), right:no_ops"
+      ],
+      "left:pick_up(blue_cylinder_block), right:no_ops": [
+        "left:place(blue_cylinder_block,bracket), right:no_ops"
+      ],
+      "left:insert(blue_cylinder_block,slot), right:no_ops": [],
+      "left:grasp(blue_cylinder_block), right:no_ops<1>": [
+        "left:pick_up(blue_cylinder_block), right:no_ops<1>"
+      ],
+      "left:pick_up(blue_cylinder_block), right:no_ops<1>": [
+        "left:insert(blue_cylinder_block,slot), right:no_ops"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_fmb_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_DEEP_episode_2",
+    "actions_list": [
+      "left:move_to(none, 'e'_block), right:no_ops",
+      "left:grasp('e'_block), right:no_ops",
+      "left:pick_up:('e'_block),right:no_ops",
+      "left:place('e'_block,table), right:no_ops",
+      "left:move_to(none,'e'_block), right:no_ops",
+      "left:grasp( 'e'_block), right:no_ops",
+      "left:pick_up('e'_block), right:no_ops",
+      "left:place('e'_block,right_of_'e'_block), right:no_ops",
+      "left:move_to(none, 'd'_block), right:no_ops",
+      "left:grasp('d'_block), right:no_ops",
+      "left:pick_up('d'_block), right:no_ops",
+      "left:place('d'_block,right_'e'_block), right:no_ops",
+      "left:no_ops, right:move_to(none,'p'_block)",
+      "left:no_ops, right:grasp('p'_block)",
+      "left:no_ops, right:pick_up('p'_block)",
+      "left:no_ops, right:place('p'_block,right_'e'_block)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, 'e'_block), right:no_ops": [
+        "left:grasp('e'_block), right:no_ops"
+      ],
+      "left:grasp('e'_block), right:no_ops": [
+        "left:pick_up:('e'_block),right:no_ops"
+      ],
+      "left:pick_up:('e'_block),right:no_ops": [
+        "left:place('e'_block,table), right:no_ops"
+      ],
+      "left:place('e'_block,table), right:no_ops": [],
+      "left:move_to(none,'e'_block), right:no_ops": [
+        "left:grasp( 'e'_block), right:no_ops"
+      ],
+      "left:grasp( 'e'_block), right:no_ops": [
+        "left:pick_up('e'_block), right:no_ops"
+      ],
+      "left:pick_up('e'_block), right:no_ops": [
+        "left:place('e'_block,right_of_'e'_block), right:no_ops"
+      ],
+      "left:place('e'_block,right_of_'e'_block), right:no_ops": [],
+      "left:move_to(none, 'd'_block), right:no_ops": [
+        "left:grasp('d'_block), right:no_ops"
+      ],
+      "left:grasp('d'_block), right:no_ops": [
+        "left:pick_up('d'_block), right:no_ops"
+      ],
+      "left:pick_up('d'_block), right:no_ops": [
+        "left:place('d'_block,right_'e'_block), right:no_ops"
+      ],
+      "left:place('d'_block,right_'e'_block), right:no_ops": [],
+      "left:no_ops, right:move_to(none,'p'_block)": [
+        "left:no_ops, right:grasp('p'_block)"
+      ],
+      "left:no_ops, right:grasp('p'_block)": [
+        "left:no_ops, right:pick_up('p'_block)"
+      ],
+      "left:no_ops, right:pick_up('p'_block)": [
+        "left:no_ops, right:place('p'_block,right_'e'_block)"
+      ],
+      "left:no_ops, right:place('p'_block,right_'e'_block)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_arrange_word_DEEP_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_flip_calendar_page_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, calendar)",
+      "left:no_ops, right:grasp(top_of_the_current_calendar_page)",
+      "left:no_ops, right:pick_up(top_of_the_current_calendar_page)",
+      "left:no_ops, right:turn(page_of_the_calendar,up,backside )"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, calendar)": [
+        "left:no_ops, right:grasp(top_of_the_current_calendar_page)"
+      ],
+      "left:no_ops, right:grasp(top_of_the_current_calendar_page)": [
+        "left:no_ops, right:pick_up(top_of_the_current_calendar_page)"
+      ],
+      "left:no_ops, right:pick_up(top_of_the_current_calendar_page)": [
+        "left:no_ops, right:turn(page_of_the_calendar,up,backside )"
+      ],
+      "left:no_ops, right:turn(page_of_the_calendar,up,backside )": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_flip_calendar_page_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_11",
+    "actions_list": [
+      "move_to(none, lid)",
+      "grasp(lid)",
+      "move_to(lid, right)"
+    ],
+    "gt_dag": {
+      "move_to(none, lid)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "move_to(lid, right)"
+      ],
+      "move_to(lid, right)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_28",
+    "actions_list": [
+      "move_to(none,cloth_hanging_on_the_screen)",
+      "grasp(cloth_hanging_on_the_screen)",
+      "pick_up(cloth_hanging_on_the_screen)",
+      "place(cloth_hanging_on_the_screen, table)"
+    ],
+    "gt_dag": {
+      "move_to(none,cloth_hanging_on_the_screen)": [
+        "grasp(cloth_hanging_on_the_screen)"
+      ],
+      "grasp(cloth_hanging_on_the_screen)": [
+        "pick_up(cloth_hanging_on_the_screen)"
+      ],
+      "pick_up(cloth_hanging_on_the_screen)": [
+        "place(cloth_hanging_on_the_screen, table)"
+      ],
+      "place(cloth_hanging_on_the_screen, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_28.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_29",
+    "actions_list": [
+      "move_to(none, orange_bowl)",
+      "grasp(orane_bowl)",
+      "pick_up(orange_bowl)",
+      "pour(orange_bowl,rice ,green_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, orange_bowl)": [
+        "grasp(orane_bowl)"
+      ],
+      "grasp(orane_bowl)": [
+        "pick_up(orange_bowl)"
+      ],
+      "pick_up(orange_bowl)": [
+        "pour(orange_bowl,rice ,green_bowl)"
+      ],
+      "pour(orange_bowl,rice ,green_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_29.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_30",
+    "actions_list": [
+      "move_to(none, pot)",
+      "grasp(plush_toy)",
+      "pick_up(plush_toy)",
+      "place(plush_toy, sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot)": [
+        "grasp(plush_toy)"
+      ],
+      "grasp(plush_toy)": [
+        "pick_up(plush_toy)"
+      ],
+      "pick_up(plush_toy)": [
+        "place(plush_toy, sink)"
+      ],
+      "place(plush_toy, sink)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_30.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_flowering_fake_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, kettle)",
+      "left:no_ops, right:grasp(kettle)",
+      "left:no_ops, right:pick_up(kettle)",
+      "left:no_ops, right:pour(kettle,water,plant)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, kettle)": [
+        "left:no_ops, right:grasp(kettle)"
+      ],
+      "left:no_ops, right:grasp(kettle)": [
+        "left:no_ops, right:pick_up(kettle)"
+      ],
+      "left:no_ops, right:pick_up(kettle)": [
+        "left:no_ops, right:pour(kettle,water,plant)"
+      ],
+      "left:no_ops, right:pour(kettle,water,plant)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_flowering_fake_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_plug_charger_episode_0",
+    "actions_list": [
+      "right:move_to(none, charger),left:no_ops",
+      "right:grasp(charger),left:no_ops",
+      "right:pick_up(charger),left:no_ops",
+      "transfer(right, left, charger)",
+      "left:insert(charger, socket), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, charger),left:no_ops": [
+        "right:grasp(charger),left:no_ops"
+      ],
+      "right:grasp(charger),left:no_ops": [
+        "right:pick_up(charger),left:no_ops"
+      ],
+      "right:pick_up(charger),left:no_ops": [
+        "transfer(right, left, charger)"
+      ],
+      "transfer(right, left, charger)": [
+        "left:insert(charger, socket), right:no_ops"
+      ],
+      "left:insert(charger, socket), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_plug_charger_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_pull_trash_can_episode_17",
+    "actions_list": [
+      "left:move_to(none, trash_can), right:no_ops",
+      "left:grasp(trash_can_cover), right:move_to(none, trash_can)",
+      "left:pick_up(trash_can_cover), right:grasp(garbage_bag)",
+      "right:no_ops, left:pick_up(garbage_bag)",
+      "left:no_ops, right:place(garbage_bag,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, trash_can), right:no_ops": [
+        "left:grasp(trash_can_cover), right:move_to(none, trash_can)"
+      ],
+      "left:grasp(trash_can_cover), right:move_to(none, trash_can)": [
+        "left:pick_up(trash_can_cover), right:grasp(garbage_bag)"
+      ],
+      "left:pick_up(trash_can_cover), right:grasp(garbage_bag)": [
+        "right:no_ops, left:pick_up(garbage_bag)"
+      ],
+      "right:no_ops, left:pick_up(garbage_bag)": [
+        "left:no_ops, right:place(garbage_bag,table)"
+      ],
+      "left:no_ops, right:place(garbage_bag,table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_pull_trash_can_episode_17.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/aloha_mobile_cabinet_episode_0",
+    "actions_list": [
+      "left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle)",
+      "left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)",
+      "left:pull(cabinet,open),right:pull(cabinet,open)",
+      "left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)",
+      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)",
+      "left:pick_up(pot),right:pick_up(pot)",
+      "left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)",
+      "left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)",
+      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)",
+      "left:push(cabinet,close),right:push(cabinet,close)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle)": [
+        "left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)"
+      ],
+      "left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)": [
+        "left:pull(cabinet,open),right:pull(cabinet,open)"
+      ],
+      "left:pull(cabinet,open),right:pull(cabinet,open)": [
+        "left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)"
+      ],
+      "left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)": [
+        "left:grasp(left_pot_handle),right:grasp(right_pot_handle)"
+      ],
+      "left:pick_up(pot),right:pick_up(pot)": [
+        "left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)"
+      ],
+      "left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)": [
+        "left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)"
+      ],
+      "left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)": [
+        "left:grasp(left_pot_handle),right:grasp(right_pot_handle)<1>"
+      ],
+      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)": [
+        "left:pick_up(pot),right:pick_up(pot)"
+      ],
+      "left:push(cabinet,close),right:push(cabinet,close)": [],
+      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)<1>": [
+        "left:push(cabinet,close),right:push(cabinet,close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_aloha_mobile_cabinet_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_check_mark_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none,pen)",
+      "left:no_ops, right:grasp(pen)",
+      "left:no_ops, right:pick_up(pen)",
+      "left:no_ops, right:draw(pen,check_mark,whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none,pen)": [
+        "left:no_ops, right:grasp(pen)"
+      ],
+      "left:no_ops, right:grasp(pen)": [
+        "left:no_ops, right:pick_up(pen)"
+      ],
+      "left:no_ops, right:pick_up(pen)": [
+        "left:no_ops, right:draw(pen,check_mark,whiteboard)"
+      ],
+      "left:no_ops, right:draw(pen,check_mark,whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_draw_check_mark_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_121",
+    "actions_list": [
+      "move_to(none, gray_doll)",
+      "grasp(gray_doll)",
+      "pick_up(gray_doll)",
+      "place(gray_doll, middle_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, gray_doll)": [
+        "grasp(gray_doll)"
+      ],
+      "grasp(gray_doll)": [
+        "pick_up(gray_doll)"
+      ],
+      "pick_up(gray_doll)": [
+        "place(gray_doll, middle_of_table)"
+      ],
+      "place(gray_doll, middle_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_121.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_33111",
+    "actions_list": [
+      "move_to(none, letter_'a')",
+      "grasp(letter_'a')",
+      "pick_up(letter_'a')",
+      "turn(letter_'a',clockwise,middle_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, letter_'a')": [
+        "grasp(letter_'a')"
+      ],
+      "grasp(letter_'a')": [
+        "pick_up(letter_'a')"
+      ],
+      "pick_up(letter_'a')": [
+        "turn(letter_'a',clockwise,middle_of_table)"
+      ],
+      "turn(letter_'a',clockwise,middle_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_33111.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_147",
+    "actions_list": [
+      "move_to(none, purple_toy)",
+      "grasp(purple_toy)",
+      "pick_up(purple_toy)",
+      "place(purple_toy, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, purple_toy)": [
+        "grasp(purple_toy)"
+      ],
+      "grasp(purple_toy)": [
+        "pick_up(purple_toy)"
+      ],
+      "pick_up(purple_toy)": [
+        "place(purple_toy, table)"
+      ],
+      "place(purple_toy, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_147.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_19660",
+    "actions_list": [
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "place(bowl, right_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "place(bowl, right_table)"
+      ],
+      "place(bowl, right_table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_19660.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_195",
+    "actions_list": [
+      "move_to(none, marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "place(marker, middle_of_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "place(marker, middle_of_bowl)"
+      ],
+      "place(marker, middle_of_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_195.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_310",
+    "actions_list": [
+      "move_to(none, pot_lid)",
+      "grasp(pot_lid)",
+      "pick_up(pot_lid)",
+      "place(lid, table)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot_lid)": [
+        "grasp(pot_lid)"
+      ],
+      "grasp(pot_lid)": [
+        "pick_up(pot_lid)"
+      ],
+      "pick_up(pot_lid)": [
+        "place(lid, table)"
+      ],
+      "place(lid, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_droid_episode_310.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_7",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable,phone), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable,phone), right:hold(phone)"
+      ],
+      "left:insert(charging_cable,phone), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_11",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pcik_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pcik_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pcik_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_13",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_22",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable,phone), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable,phone), right:hold(phone)"
+      ],
+      "left:insert(charging_cable,phone), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_22.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_28",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_28.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_30",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_30.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_flip_bottle_episode_6",
+    "actions_list": [
+      "right:move_to(none, bottle), left:no_ops",
+      "right:grasp(bottle), left:no_ops",
+      "right:pick_up(bottle), left:no_ops",
+      "right:turn(bottle,anticlockwise,inverted),left:no_ops",
+      "transfer(right,left,bottle)",
+      "left:place(bottle,table),right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, bottle), left:no_ops": [
+        "right:grasp(bottle), left:no_ops"
+      ],
+      "right:grasp(bottle), left:no_ops": [
+        "right:pick_up(bottle), left:no_ops"
+      ],
+      "right:pick_up(bottle), left:no_ops": [
+        "right:turn(bottle,anticlockwise,inverted),left:no_ops"
+      ],
+      "right:turn(bottle,anticlockwise,inverted),left:no_ops": [
+        "transfer(right,left,bottle)"
+      ],
+      "transfer(right,left,bottle)": [
+        "left:place(bottle,table),right:no_ops"
+      ],
+      "left:place(bottle,table),right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_flip_bottle_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_flip_bottle_episode_14",
+    "actions_list": [
+      "left: no_ops, right:move_to(none, bottle)",
+      "left: no_ops, right:grasp(bottle)",
+      "left: no_ops, right:pick_up(bottle)",
+      "left: no_ops, right:turn(bottle, clockwise, inverted)",
+      "left: no_ops, right:place(bottle, table)"
+    ],
+    "gt_dag": {
+      "left: no_ops, right:move_to(none, bottle)": [
+        "left: no_ops, right:grasp(bottle)"
+      ],
+      "left: no_ops, right:grasp(bottle)": [
+        "left: no_ops, right:pick_up(bottle)"
+      ],
+      "left: no_ops, right:pick_up(bottle)": [
+        "left: no_ops, right:turn(bottle, clockwise, inverted)"
+      ],
+      "left: no_ops, right:turn(bottle, clockwise, inverted)": [
+        "left: no_ops, right:place(bottle, table)"
+      ],
+      "left: no_ops, right:place(bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_flip_bottle_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_0",
+    "actions_list": [
+      "left:move_to(none,brown_paper_ball), right:no_ops",
+      "left:grasp(brown_paper_ball), right:no_ops",
+      "left:pick_up(brown_paper_ball), right:no_ops",
+      "left:place(brown_paper_ball, trash_can), right:no_ops",
+      "left:move_to(none,white_paper_ball), right:no_ops",
+      "left:grasp(white_paper_ball), right:no_ops",
+      "left:pick_up(white_paper_ball), right:no_ops",
+      "left:place(white_paper_ball, trash_can), right:no_ops",
+      "left: no_ops, right:move_to(none,patterned_paper_ball)",
+      "left: no_ops, right:grasp(patterned_paper_ball)",
+      "left: no_ops, right:pick_up(patterned_paper_ball)",
+      "left: no_ops, right:place(patterned_paper_ball, trash_can)",
+      "left: no_ops, right:move_to(none,paper_ball)",
+      "left: no_ops, right:grasp(paper_ball)",
+      "left: no_ops, right:pick_up(paper_ball)",
+      "left: no_ops, right:place(paper_ball, trash_can)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,brown_paper_ball), right:no_ops": [
+        "left:grasp(brown_paper_ball), right:no_ops"
+      ],
+      "left:grasp(brown_paper_ball), right:no_ops": [
+        "left:pick_up(brown_paper_ball), right:no_ops"
+      ],
+      "left:pick_up(brown_paper_ball), right:no_ops": [
+        "left:place(brown_paper_ball, trash_can), right:no_ops"
+      ],
+      "left:place(brown_paper_ball, trash_can), right:no_ops": [],
+      "left:move_to(none,white_paper_ball), right:no_ops": [
+        "left:grasp(white_paper_ball), right:no_ops"
+      ],
+      "left:grasp(white_paper_ball), right:no_ops": [
+        "left:pick_up(white_paper_ball), right:no_ops"
+      ],
+      "left:pick_up(white_paper_ball), right:no_ops": [
+        "left:place(white_paper_ball, trash_can), right:no_ops"
+      ],
+      "left:place(white_paper_ball, trash_can), right:no_ops": [],
+      "left: no_ops, right:move_to(none,patterned_paper_ball)": [
+        "left: no_ops, right:grasp(patterned_paper_ball)"
+      ],
+      "left: no_ops, right:grasp(patterned_paper_ball)": [
+        "left: no_ops, right:pick_up(patterned_paper_ball)"
+      ],
+      "left: no_ops, right:pick_up(patterned_paper_ball)": [
+        "left: no_ops, right:place(patterned_paper_ball, trash_can)"
+      ],
+      "left: no_ops, right:place(patterned_paper_ball, trash_can)": [],
+      "left: no_ops, right:move_to(none,paper_ball)": [
+        "left: no_ops, right:grasp(paper_ball)"
+      ],
+      "left: no_ops, right:grasp(paper_ball)": [
+        "left: no_ops, right:pick_up(paper_ball)"
+      ],
+      "left: no_ops, right:pick_up(paper_ball)": [
+        "left: no_ops, right:place(paper_ball, trash_can)"
+      ],
+      "left: no_ops, right:place(paper_ball, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_4",
+    "actions_list": [
+      "left:move_to(none, paper_ball), right:no_ops",
+      "left:grasp(paper_ball), right:no_ops",
+      "left:pick_up(paper_ball), right:no_ops",
+      "left:place(paper_ball, trash_can), right:no_ops",
+      "left:move_to(none, paper_ball), right:no_ops",
+      "left:grasp(paper_ball), right:no_ops",
+      "left:pick_up(paper_ball), right:no_ops",
+      "left:place(paper_ball, trash_can), right:no_ops",
+      "left:move_to(none, paper_ball), right:no_ops",
+      "left:grasp(paper_ball), right:no_ops",
+      "left:pick_up(paper_ball), right:no_ops",
+      "left:place(paper_ball, trash_can), right:no_ops",
+      "left:no_ops, right:move_to(none, paper_ball)",
+      "left:no_ops, right:grasp(paper_ball)",
+      "left:no_ops, right:pick_up(paper_ball)",
+      "left:no_ops, right:place(paper_ball, trash_can)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, paper_ball), right:no_ops": [
+        "left:grasp(paper_ball), right:no_ops"
+      ],
+      "left:grasp(paper_ball), right:no_ops": [
+        "left:pick_up(paper_ball), right:no_ops"
+      ],
+      "left:pick_up(paper_ball), right:no_ops": [
+        "left:place(paper_ball, trash_can), right:no_ops"
+      ],
+      "left:place(paper_ball, trash_can), right:no_ops": [],
+      "left:no_ops, right:move_to(none, paper_ball)": [
+        "left:no_ops, right:grasp(paper_ball)"
+      ],
+      "left:no_ops, right:grasp(paper_ball)": [
+        "left:no_ops, right:pick_up(paper_ball)"
+      ],
+      "left:no_ops, right:pick_up(paper_ball)": [
+        "left:no_ops, right:place(paper_ball, trash_can)"
+      ],
+      "left:no_ops, right:place(paper_ball, trash_can)": [],
+      "left:move_to(none, paper_ball), right:no_ops<1>": [
+        "left:grasp(paper_ball), right:no_ops<2>"
+      ],
+      "left:pick_up(paper_ball), right:no_ops<1>": [
+        "left:place(paper_ball, trash_can), right:no_ops<1>"
+      ],
+      "left:place(paper_ball, trash_can), right:no_ops<1>": [],
+      "left:move_to(none, paper_ball), right:no_ops<2>": [
+        "left:grasp(paper_ball), right:no_ops<1>"
+      ],
+      "left:grasp(paper_ball), right:no_ops<1>": [
+        "left:pick_up(paper_ball), right:no_ops<2>"
+      ],
+      "left:pick_up(paper_ball), right:no_ops<2>": [
+        "left:place(paper_ball, trash_can), right:no_ops<2>"
+      ],
+      "left:place(paper_ball, trash_can), right:no_ops<2>": [],
+      "left:grasp(paper_ball), right:no_ops<2>": [
+        "left:pick_up(paper_ball), right:no_ops<1>"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_13",
+    "actions_list": [
+      "right:move_to(none, paper_ball), left:no_ops",
+      "right:grasp(paper_ball), left:no_ops",
+      "right:pick_up(paper_ball), left:no_ops",
+      "right:place(paper_ball, inside_trash_can), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, paper_ball), left:no_ops": [
+        "right:grasp(paper_ball), left:no_ops"
+      ],
+      "right:grasp(paper_ball), left:no_ops": [
+        "right:pick_up(paper_ball), left:no_ops"
+      ],
+      "right:pick_up(paper_ball), left:no_ops": [
+        "right:place(paper_ball, inside_trash_can), left:no_ops"
+      ],
+      "right:place(paper_ball, inside_trash_can), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_14",
+    "actions_list": [
+      "right:move_to(none, paper_ball), left:no_ops",
+      "right:grasp(paper_ball), left:no_ops",
+      "right:pick_up(paper_ball), left:no_ops",
+      "right:place(paper_ball, inside_trash_can), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, paper_ball), left:no_ops": [
+        "right:grasp(paper_ball), left:no_ops"
+      ],
+      "right:grasp(paper_ball), left:no_ops": [
+        "right:pick_up(paper_ball), left:no_ops"
+      ],
+      "right:pick_up(paper_ball), left:no_ops": [
+        "right:place(paper_ball, inside_trash_can), left:no_ops"
+      ],
+      "right:place(paper_ball, inside_trash_can), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_4",
+    "actions_list": [
+      "left:move_to(none, charger), right:move_to(none,data_cable)",
+      "left:grasp(charger), right:grasp(data_cable)",
+      "left:pick_up(charger), right:pick_up(data_cable)",
+      "left:hold(charger), right:insert(data_cable,charger)",
+      "left:place(charger,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charger), right:move_to(none,data_cable)": [
+        "left:grasp(charger), right:grasp(data_cable)"
+      ],
+      "left:grasp(charger), right:grasp(data_cable)": [
+        "left:pick_up(charger), right:pick_up(data_cable)"
+      ],
+      "left:pick_up(charger), right:pick_up(data_cable)": [
+        "left:hold(charger), right:insert(data_cable,charger)"
+      ],
+      "left:hold(charger), right:insert(data_cable,charger)": [
+        "left:place(charger,table), right:no_ops"
+      ],
+      "left:place(charger,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_5",
+    "actions_list": [
+      "left:move_to(none, charger), right:move_to(none,data_cable)",
+      "left:grasp(charger), right:grasp(data_cable)",
+      "left:pick_up(charger), right:pick_up(data_cable)",
+      "left:hold(charger), right:insert(data_cable,charger)",
+      "left:place(charger,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charger), right:move_to(none,data_cable)": [
+        "left:grasp(charger), right:grasp(data_cable)"
+      ],
+      "left:grasp(charger), right:grasp(data_cable)": [
+        "left:pick_up(charger), right:pick_up(data_cable)"
+      ],
+      "left:pick_up(charger), right:pick_up(data_cable)": [
+        "left:hold(charger), right:insert(data_cable,charger)"
+      ],
+      "left:hold(charger), right:insert(data_cable,charger)": [
+        "left:place(charger,table), right:no_ops"
+      ],
+      "left:place(charger,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_11",
+    "actions_list": [
+      "left:move_to(none, charger), right:move_to(none,data_cable)",
+      "left:grasp(charger), right:grasp(data_cable)",
+      "left:pick_up(charger), right:pick_up(data_cable)",
+      "left:hold(charger), right:insert(data_cable,charger)",
+      "left:place(charger,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charger), right:move_to(none,data_cable)": [
+        "left:grasp(charger), right:grasp(data_cable)"
+      ],
+      "left:grasp(charger), right:grasp(data_cable)": [
+        "left:pick_up(charger), right:pick_up(data_cable)"
+      ],
+      "left:pick_up(charger), right:pick_up(data_cable)": [
+        "left:hold(charger), right:insert(data_cable,charger)"
+      ],
+      "left:hold(charger), right:insert(data_cable,charger)": [
+        "left:place(charger,table), right:no_ops"
+      ],
+      "left:place(charger,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_14",
+    "actions_list": [
+      "left:move_to(none, charger), right:move_to(none,data_cable)",
+      "left:grasp(charger), right:grasp(data_cable)",
+      "left:pick_up(charger), right:pick_up(data_cable)",
+      "left:hold(charger), right:insert(data_cable,charger)",
+      "left:place(charger,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charger), right:move_to(none,data_cable)": [
+        "left:grasp(charger), right:grasp(data_cable)"
+      ],
+      "left:grasp(charger), right:grasp(data_cable)": [
+        "left:pick_up(charger), right:pick_up(data_cable)"
+      ],
+      "left:pick_up(charger), right:pick_up(data_cable)": [
+        "left:hold(charger), right:insert(data_cable,charger)"
+      ],
+      "left:hold(charger), right:insert(data_cable,charger)": [
+        "left:place(charger,table), right:no_ops"
+      ],
+      "left:place(charger,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_15",
+    "actions_list": [
+      "left:move_to(none, charger), right:move_to(none,data_cable)",
+      "left:grasp(charger), right:grasp(data_cable)",
+      "left:pick_up(charger), right:pick_up(data_cable)",
+      "left:hold(charger), right:insert(data_cable,charger)",
+      "left:place(charger,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charger), right:move_to(none,data_cable)": [
+        "left:grasp(charger), right:grasp(data_cable)"
+      ],
+      "left:grasp(charger), right:grasp(data_cable)": [
+        "left:pick_up(charger), right:pick_up(data_cable)"
+      ],
+      "left:pick_up(charger), right:pick_up(data_cable)": [
+        "left:hold(charger), right:insert(data_cable,charger)"
+      ],
+      "left:hold(charger), right:insert(data_cable,charger)": [
+        "left:place(charger,table), right:no_ops"
+      ],
+      "left:place(charger,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_15.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1",
+    "actions_list": [
+      "left:move_to(none, backpack), right:no_ops",
+      "left:grasp(backpack), right:no_ops",
+      "left:pick_up(backpack), right:no_ops",
+      "left:place(backpack, desk), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, backpack), right:no_ops": [
+        "left:grasp(backpack), right:no_ops"
+      ],
+      "left:grasp(backpack), right:no_ops": [
+        "left:pick_up(backpack), right:no_ops"
+      ],
+      "left:pick_up(backpack), right:no_ops": [
+        "left:place(backpack, desk), right:no_ops"
+      ],
+      "left:place(backpack, desk), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_18",
+    "actions_list": [
+      "left:move_to(none, backpack), right:no_ops",
+      "left:grasp(backpack), right:no_ops",
+      "left:pick_up(backpack), right:no_ops",
+      "left:place(backpack, desk), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, backpack), right:no_ops": [
+        "left:grasp(backpack), right:no_ops"
+      ],
+      "left:grasp(backpack), right:no_ops": [
+        "left:pick_up(backpack), right:no_ops"
+      ],
+      "left:pick_up(backpack), right:no_ops": [
+        "left:place(backpack, desk), right:no_ops"
+      ],
+      "left:place(backpack, desk), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_orange_into_bag_episode_11",
+    "actions_list": [
+      "left:move_to(none, orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange,inside_bag), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, orange), right:no_ops": [
+        "left:grasp(orange), right:no_ops"
+      ],
+      "left:grasp(orange), right:no_ops": [
+        "left:pick_up(orange), right:no_ops"
+      ],
+      "left:pick_up(orange), right:no_ops": [
+        "left:place(orange,inside_bag), right:no_ops"
+      ],
+      "left:place(orange,inside_bag), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pick_orange_into_bag_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_tape_into_bag_episode_18",
+    "actions_list": [
+      "right:move_to(none, tape), left:no_ops",
+      "right:grasp(tape), left:no_ops",
+      "right:pick_up(tape), left:no_ops",
+      "right:place(tape, inside_bag), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, tape), left:no_ops": [
+        "right:grasp(tape), left:no_ops"
+      ],
+      "right:grasp(tape), left:no_ops": [
+        "right:pick_up(tape), left:no_ops"
+      ],
+      "right:pick_up(tape), left:no_ops": [
+        "right:place(tape, inside_bag), left:no_ops"
+      ],
+      "right:place(tape, inside_bag), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pick_tape_into_bag_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_tomato_to_desk_episode_16",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, can)",
+      "left:no_ops, right:grasp(can)",
+      "left:no_ops, right:pick_up(can)",
+      "left:no_ops, right:place(can, right_side_of_the_table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, can)": [
+        "left:no_ops, right:grasp(can)"
+      ],
+      "left:no_ops, right:grasp(can)": [
+        "left:no_ops, right:pick_up(can)"
+      ],
+      "left:no_ops, right:pick_up(can)": [
+        "left:no_ops, right:place(can, right_side_of_the_table)"
+      ],
+      "left:no_ops, right:place(can, right_side_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pick_tomato_to_desk_episode_16.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_place_octopus_upright_episode_12",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, octopus_plushie)",
+      "left:no_ops, right:grasp(octopus_plushie)",
+      "left:no_ops, right:pick_up(octopus_plushie)",
+      "left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)",
+      "transfer(left, right, octopus_plushie)",
+      "right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)",
+      "right:no_ops, left:place(octopus_plushie,table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, octopus_plushie)": [
+        "left:no_ops, right:grasp(octopus_plushie)"
+      ],
+      "left:no_ops, right:grasp(octopus_plushie)": [
+        "left:no_ops, right:pick_up(octopus_plushie)"
+      ],
+      "left:no_ops, right:pick_up(octopus_plushie)": [
+        "left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)"
+      ],
+      "left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)": [
+        "transfer(left, right, octopus_plushie)"
+      ],
+      "transfer(left, right, octopus_plushie)": [
+        "right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)"
+      ],
+      "right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)": [
+        "right:no_ops, left:place(octopus_plushie,table)"
+      ],
+      "right:no_ops, left:place(octopus_plushie,table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_place_octopus_upright_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pull_chair_episode_8",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, chair)",
+      "left:no_ops, right:grasp(right_side_of_the_chair)",
+      "left:no_ops, right:pull(chair, behind)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, chair)": [
+        "left:no_ops, right:grasp(right_side_of_the_chair)"
+      ],
+      "left:no_ops, right:grasp(right_side_of_the_chair)": [
+        "left:no_ops, right:pull(chair, behind)"
+      ],
+      "left:no_ops, right:pull(chair, behind)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_pull_chair_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_9",
+    "actions_list": [
+      "left:move_to(none, gray_clothes), right:no_ops",
+      "left:grasp(gray_clothes), right:no_ops",
+      "left:pick_up(gray_clothes), right:no_ops",
+      "left:place(gray_clothes, backpack), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, gray_clothes), right:no_ops": [
+        "left:grasp(gray_clothes), right:no_ops"
+      ],
+      "left:grasp(gray_clothes), right:no_ops": [
+        "left:pick_up(gray_clothes), right:no_ops"
+      ],
+      "left:pick_up(gray_clothes), right:no_ops": [
+        "left:place(gray_clothes, backpack), right:no_ops"
+      ],
+      "left:place(gray_clothes, backpack), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_clothes_into_backpack_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_2",
+    "actions_list": [
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops",
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,orange), right:no_ops": [
+        "left:grasp(orange), right:no_ops"
+      ],
+      "left:grasp(orange), right:no_ops": [
+        "left:pick_up(orange), right:no_ops"
+      ],
+      "left:pick_up(orange), right:no_ops": [
+        "left:place(orange, bag), right:no_ops"
+      ],
+      "left:place(orange, bag), right:no_ops": [
+        "left:move_to(none,orange), right:no_ops<1>"
+      ],
+      "left:move_to(none,orange), right:no_ops<1>": [
+        "left:grasp(orange), right:no_ops<1>"
+      ],
+      "left:grasp(orange), right:no_ops<1>": [
+        "left:pick_up(orange), right:no_ops<1>"
+      ],
+      "left:pick_up(orange), right:no_ops<1>": [
+        "left:place(orange, bag), right:no_ops<1>"
+      ],
+      "left:place(orange, bag), right:no_ops<1>": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_6",
+    "actions_list": [
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops",
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,orange), right:no_ops": [
+        "left:grasp(orange), right:no_ops"
+      ],
+      "left:grasp(orange), right:no_ops": [
+        "left:pick_up(orange), right:no_ops"
+      ],
+      "left:pick_up(orange), right:no_ops": [
+        "left:place(orange, bag), right:no_ops"
+      ],
+      "left:place(orange, bag), right:no_ops": [
+        "left:move_to(none,orange), right:no_ops<1>"
+      ],
+      "left:move_to(none,orange), right:no_ops<1>": [
+        "left:grasp(orange), right:no_ops<1>"
+      ],
+      "left:grasp(orange), right:no_ops<1>": [
+        "left:pick_up(orange), right:no_ops<1>"
+      ],
+      "left:pick_up(orange), right:no_ops<1>": [
+        "left:place(orange, bag), right:no_ops<1>"
+      ],
+      "left:place(orange, bag), right:no_ops<1>": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_7",
+    "actions_list": [
+      "left:move_to(none, orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops",
+      "left:move_to(none, orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, orange), right:no_ops": [
+        "left:grasp(orange), right:no_ops"
+      ],
+      "left:grasp(orange), right:no_ops": [
+        "left:pick_up(orange), right:no_ops"
+      ],
+      "left:pick_up(orange), right:no_ops": [
+        "left:place(orange, bag), right:no_ops"
+      ],
+      "left:place(orange, bag), right:no_ops": [
+        "left:move_to(none, orange), right:no_ops<1>"
+      ],
+      "left:move_to(none, orange), right:no_ops<1>": [
+        "left:grasp(orange), right:no_ops<1>"
+      ],
+      "left:grasp(orange), right:no_ops<1>": [
+        "left:pick_up(orange), right:no_ops<1>"
+      ],
+      "left:pick_up(orange), right:no_ops<1>": [
+        "left:place(orange, bag), right:no_ops<1>"
+      ],
+      "left:place(orange, bag), right:no_ops<1>": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_8",
+    "actions_list": [
+      "right:move_to(none, first_orange), left:no_ops",
+      "right:grasp(first_orange), left:no_ops",
+      "right:pick_up(first_orange), left:no_ops",
+      "right:place(first_orange, bag), left:no_ops",
+      "right:move_to(none, second_orange), left:no_ops",
+      "right:grasp(second_orange), left:no_ops",
+      "right:pick_up(second_orange), left:no_ops",
+      "right:place(second_orange, bag), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, first_orange), left:no_ops": [
+        "right:grasp(first_orange), left:no_ops"
+      ],
+      "right:grasp(first_orange), left:no_ops": [
+        "right:pick_up(first_orange), left:no_ops"
+      ],
+      "right:pick_up(first_orange), left:no_ops": [
+        "right:place(first_orange, bag), left:no_ops"
+      ],
+      "right:place(first_orange, bag), left:no_ops": [
+        "right:move_to(none, second_orange), left:no_ops"
+      ],
+      "right:move_to(none, second_orange), left:no_ops": [
+        "right:grasp(second_orange), left:no_ops"
+      ],
+      "right:grasp(second_orange), left:no_ops": [
+        "right:pick_up(second_orange), left:no_ops"
+      ],
+      "right:pick_up(second_orange), left:no_ops": [
+        "right:place(second_orange, bag), left:no_ops"
+      ],
+      "right:place(second_orange, bag), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_10",
+    "actions_list": [
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops",
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,orange), right:no_ops": [
+        "left:grasp(orange), right:no_ops"
+      ],
+      "left:grasp(orange), right:no_ops": [
+        "left:pick_up(orange), right:no_ops"
+      ],
+      "left:pick_up(orange), right:no_ops": [
+        "left:place(orange, bag), right:no_ops"
+      ],
+      "left:place(orange, bag), right:no_ops": [
+        "left:move_to(none,orange), right:no_ops<1>"
+      ],
+      "left:move_to(none,orange), right:no_ops<1>": [
+        "left:grasp(orange), right:no_ops<1>"
+      ],
+      "left:grasp(orange), right:no_ops<1>": [
+        "left:pick_up(orange), right:no_ops<1>"
+      ],
+      "left:pick_up(orange), right:no_ops<1>": [
+        "left:place(orange, bag), right:no_ops<1>"
+      ],
+      "left:place(orange, bag), right:no_ops<1>": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_2",
+    "actions_list": [
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:pick_up(sponge), right:no_ops",
+      "left:wipe(sponge, left_surface,table), right:no_ops",
+      "left:place(sponge,middle_table), right:no_ops",
+      "rgiht:move_to(none, sponge), right:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:pick_up(sponge), left:no_ops",
+      "right:wipe(sponge,right_surface,table), left:no_ops",
+      "right:place(sponge,middle_table), left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:pick_up(sponge), right:no_ops"
+      ],
+      "left:pick_up(sponge), right:no_ops": [
+        "left:wipe(sponge, left_surface,table), right:no_ops"
+      ],
+      "left:wipe(sponge, left_surface,table), right:no_ops": [
+        "left:place(sponge,middle_table), right:no_ops"
+      ],
+      "left:place(sponge,middle_table), right:no_ops": [
+        "rgiht:move_to(none, sponge), right:no_ops"
+      ],
+      "rgiht:move_to(none, sponge), right:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:pick_up(sponge), left:no_ops"
+      ],
+      "right:pick_up(sponge), left:no_ops": [
+        "right:wipe(sponge,right_surface,table), left:no_ops"
+      ],
+      "right:wipe(sponge,right_surface,table), left:no_ops": [
+        "right:place(sponge,middle_table), left:no_ops"
+      ],
+      "right:place(sponge,middle_table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_5",
+    "actions_list": [
+      "right:move_to(none, sponge), left:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:pick_up(sponge), left:no_ops",
+      "right:wipe(sponge,right_surface,table), left:no_ops",
+      "right:place(sponge,middle_of_table),left:no_ops",
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:pick_up(sponge), right:no_ops",
+      "left:wipe(sponge,left_surface,table), right:no_ops",
+      "left:place(sponge,middle_of_table),right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, sponge), left:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:pick_up(sponge), left:no_ops"
+      ],
+      "right:pick_up(sponge), left:no_ops": [
+        "right:wipe(sponge,right_surface,table), left:no_ops"
+      ],
+      "right:wipe(sponge,right_surface,table), left:no_ops": [
+        "right:place(sponge,middle_of_table),left:no_ops"
+      ],
+      "right:place(sponge,middle_of_table),left:no_ops": [
+        "left:move_to(none, sponge), right:no_ops"
+      ],
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:pick_up(sponge), right:no_ops"
+      ],
+      "left:pick_up(sponge), right:no_ops": [
+        "left:wipe(sponge,left_surface,table), right:no_ops"
+      ],
+      "left:wipe(sponge,left_surface,table), right:no_ops": [
+        "left:place(sponge,middle_of_table),right:no_ops"
+      ],
+      "left:place(sponge,middle_of_table),right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_9",
+    "actions_list": [
+      "right:move_to(none, sponge), left:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:pick_up(sponge), left:no_ops",
+      "right:wipe(sponge, right_surface,table), left:no_ops",
+      "right:place(sponge,middle_of_table),left:no_ops",
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:pick_up(sponge), right:no_ops",
+      "left:wipe(sponge,left_surface,table), right:no_ops",
+      "left:place(sponge,middle_of_table),right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, sponge), left:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:pick_up(sponge), left:no_ops"
+      ],
+      "right:pick_up(sponge), left:no_ops": [
+        "right:wipe(sponge, right_surface,table), left:no_ops"
+      ],
+      "right:wipe(sponge, right_surface,table), left:no_ops": [
+        "right:place(sponge,middle_of_table),left:no_ops"
+      ],
+      "right:place(sponge,middle_of_table),left:no_ops": [
+        "left:move_to(none, sponge), right:no_ops"
+      ],
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:pick_up(sponge), right:no_ops"
+      ],
+      "left:pick_up(sponge), right:no_ops": [
+        "left:wipe(sponge,left_surface,table), right:no_ops"
+      ],
+      "left:wipe(sponge,left_surface,table), right:no_ops": [
+        "left:place(sponge,middle_of_table),right:no_ops"
+      ],
+      "left:place(sponge,middle_of_table),right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_11",
+    "actions_list": [
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:pick_up(sponge), right:no_ops",
+      "left:wipe(sponge,left_surface,table), right:no_ops",
+      "left:place(sponge,middle_of_table),right:no_ops",
+      "right:move_to(none, sponge), left:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:pick_up(sponge), left:no_ops",
+      "right:wipe(sponge,right_surface,table), left:no_ops",
+      "right:place(sponge,middle_of_table),left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:pick_up(sponge), right:no_ops"
+      ],
+      "left:pick_up(sponge), right:no_ops": [
+        "left:wipe(sponge,left_surface,table), right:no_ops"
+      ],
+      "left:wipe(sponge,left_surface,table), right:no_ops": [
+        "left:place(sponge,middle_of_table),right:no_ops"
+      ],
+      "left:place(sponge,middle_of_table),right:no_ops": [
+        "right:move_to(none, sponge), left:no_ops"
+      ],
+      "right:move_to(none, sponge), left:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:pick_up(sponge), left:no_ops"
+      ],
+      "right:pick_up(sponge), left:no_ops": [
+        "right:wipe(sponge,right_surface,table), left:no_ops"
+      ],
+      "right:wipe(sponge,right_surface,table), left:no_ops": [
+        "right:place(sponge,middle_of_table),left:no_ops"
+      ],
+      "right:place(sponge,middle_of_table),left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3",
+    "actions_list": [
+      "left:move_to(none, bag), right:move_to(none,glass_case)",
+      "left:grasp(bag_handle), right:grasp(glass_case)",
+      "left:pick_up(bag), right:pick_up(glass_case)",
+      "left:no_ops, right:move_to(glasses_case,table)",
+      "left:place(bag,table), right:place(glasses_case, table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, bag), right:move_to(none,glass_case)": [
+        "left:grasp(bag_handle), right:grasp(glass_case)"
+      ],
+      "left:grasp(bag_handle), right:grasp(glass_case)": [
+        "left:pick_up(bag), right:pick_up(glass_case)"
+      ],
+      "left:pick_up(bag), right:pick_up(glass_case)": [
+        "left:no_ops, right:move_to(glasses_case,table)"
+      ],
+      "left:no_ops, right:move_to(glasses_case,table)": [
+        "left:place(bag,table), right:place(glasses_case, table)"
+      ],
+      "left:place(bag,table), right:place(glasses_case, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6",
+    "actions_list": [
+      "left:move_to(none, bag), right:move_to(none,glass_case)",
+      "left:grasp(bag_handle), right:grasp(glass_case)",
+      "left:pick_up(bag), right:pick_up(glass_case)",
+      "left:no_ops, right:move_to(glasses_case,table)",
+      "left:place(bag,table), right:place(glasses_case, table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, bag), right:move_to(none,glass_case)": [
+        "left:grasp(bag_handle), right:grasp(glass_case)"
+      ],
+      "left:grasp(bag_handle), right:grasp(glass_case)": [
+        "left:pick_up(bag), right:pick_up(glass_case)"
+      ],
+      "left:pick_up(bag), right:pick_up(glass_case)": [
+        "left:no_ops, right:move_to(glasses_case,table)"
+      ],
+      "left:no_ops, right:move_to(glasses_case,table)": [
+        "left:place(bag,table), right:place(glasses_case, table)"
+      ],
+      "left:place(bag,table), right:place(glasses_case, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_4",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, pen_body)",
+      "left:move_to(none, pen_cap), right:grasp(pen_body)",
+      "left:grasp(pen_cap), right:pick_up(pen_body)",
+      "left:pullout(pen_cap,pen) right:hold(pen_body)",
+      "left:place(pen_cap,table), right:place(pen_body, table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, pen_body)": [
+        "left:move_to(none, pen_cap), right:grasp(pen_body)"
+      ],
+      "left:move_to(none, pen_cap), right:grasp(pen_body)": [
+        "left:grasp(pen_cap), right:pick_up(pen_body)"
+      ],
+      "left:grasp(pen_cap), right:pick_up(pen_body)": [
+        "left:pullout(pen_cap,pen) right:hold(pen_body)"
+      ],
+      "left:pullout(pen_cap,pen) right:hold(pen_body)": [
+        "left:place(pen_cap,table), right:place(pen_body, table)"
+      ],
+      "left:place(pen_cap,table), right:place(pen_body, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_10",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, pen_body)",
+      "left:move_to(none, pen_cap), right:grasp(pen_body)",
+      "left:grasp(pen_cap), right:pick_up(pen_body)",
+      "left:pullout(pen_cap,pen) right:hold(pen_body)",
+      "left:place(pen_cap,table), right:place(pen_body, table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, pen_body)": [
+        "left:move_to(none, pen_cap), right:grasp(pen_body)"
+      ],
+      "left:move_to(none, pen_cap), right:grasp(pen_body)": [
+        "left:grasp(pen_cap), right:pick_up(pen_body)"
+      ],
+      "left:grasp(pen_cap), right:pick_up(pen_body)": [
+        "left:pullout(pen_cap,pen) right:hold(pen_body)"
+      ],
+      "left:pullout(pen_cap,pen) right:hold(pen_body)": [
+        "left:place(pen_cap,table), right:place(pen_body, table)"
+      ],
+      "left:place(pen_cap,table), right:place(pen_body, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_13",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, pen_body)",
+      "left:move_to(none, pen_cap), right:grasp(pen_body)",
+      "left:grasp(pen_cap), right:pick_up(pen_body)",
+      "left:pullout(pen_cap,pen) right:hold(pen_body)",
+      "left:place(pen_cap,table), right:place(pen_body, table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, pen_body)": [
+        "left:move_to(none, pen_cap), right:grasp(pen_body)"
+      ],
+      "left:move_to(none, pen_cap), right:grasp(pen_body)": [
+        "left:grasp(pen_cap), right:pick_up(pen_body)"
+      ],
+      "left:grasp(pen_cap), right:pick_up(pen_body)": [
+        "left:pullout(pen_cap,pen) right:hold(pen_body)"
+      ],
+      "left:pullout(pen_cap,pen) right:hold(pen_body)": [
+        "left:place(pen_cap,table), right:place(pen_body, table)"
+      ],
+      "left:place(pen_cap,table), right:place(pen_body, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_5",
+    "actions_list": [
+      "left:move_to(none, light_switch), right:no_ops",
+      "left:grasp(switch), right:no_ops",
+      "left:press(switch), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, light_switch), right:no_ops": [
+        "left:grasp(switch), right:no_ops"
+      ],
+      "left:grasp(switch), right:no_ops": [
+        "left:press(switch), right:no_ops"
+      ],
+      "left:press(switch), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_turn_off_light_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_7",
+    "actions_list": [
+      "left:move_to(none, switch), right:no_ops",
+      "left:grasp(switch), right:no_ops",
+      "left:press(switch), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, switch), right:no_ops": [
+        "left:grasp(switch), right:no_ops"
+      ],
+      "left:grasp(switch), right:no_ops": [
+        "left:press(switch), right:no_ops"
+      ],
+      "left:press(switch), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_turn_off_light_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_8",
+    "actions_list": [
+      "left:move_to(none, switch), right:no_ops",
+      "left:grasp(switch), right:no_ops",
+      "left:press(switch), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, switch), right:no_ops": [
+        "left:grasp(switch), right:no_ops"
+      ],
+      "left:grasp(switch), right:no_ops": [
+        "left:press(switch), right:no_ops"
+      ],
+      "left:press(switch), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_turn_off_light_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_unwind_charging_cable_episode_10",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:no_ops",
+      "left:grasp(charging_cable), right:no_ops",
+      "left:pick_up(charging_cable), right:no_ops",
+      "left:no_ops, right:grasp(other_ end_charging)",
+      "left:pull(charging,straight), right:pull(charging,straight)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:no_ops": [
+        "left:grasp(charging_cable), right:no_ops"
+      ],
+      "left:grasp(charging_cable), right:no_ops": [
+        "left:pick_up(charging_cable), right:no_ops"
+      ],
+      "left:pick_up(charging_cable), right:no_ops": [
+        "left:no_ops, right:grasp(other_ end_charging)"
+      ],
+      "left:no_ops, right:grasp(other_ end_charging)": [
+        "left:pull(charging,straight), right:pull(charging,straight)"
+      ],
+      "left:pull(charging,straight), right:pull(charging,straight)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_unwind_charging_cable_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_unzip_the_bag_episode_7",
+    "actions_list": [
+      "left:no_ops,right:move_to(none, bag)",
+      "right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)",
+      "right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)",
+      "right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)"
+    ],
+    "gt_dag": {
+      "left:no_ops,right:move_to(none, bag)": [
+        "right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)"
+      ],
+      "right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)": [
+        "right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)"
+      ],
+      "right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)": [
+        "right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)"
+      ],
+      "right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_unzip_the_bag_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_cup_1_episode_5",
+    "actions_list": [
+      "left:move_to(none, faucet), right:move_to(none, mug)",
+      "left:grasp(faucet), right:grasp(mug)",
+      "left:no_ops, right:pick_up(mug)",
+      "left:turn_on(faucet), right:place(mug,faucet)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, faucet), right:move_to(none, mug)": [
+        "left:grasp(faucet), right:grasp(mug)"
+      ],
+      "left:grasp(faucet), right:grasp(mug)": [
+        "left:no_ops, right:pick_up(mug)"
+      ],
+      "left:no_ops, right:pick_up(mug)": [
+        "left:turn_on(faucet), right:place(mug,faucet)"
+      ],
+      "left:turn_on(faucet), right:place(mug,faucet)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_wash_cup_1_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_cup_3_episode_4",
+    "actions_list": [
+      "left:move_to(none,faucet), right:move_to(none, mug)",
+      "left:no_ops, right:grasp(mug)",
+      "left:no_ops right:pick_up(mug)",
+      "left:turn_on(faucet),right:place(mug,faucet)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,faucet), right:move_to(none, mug)": [
+        "left:no_ops, right:grasp(mug)"
+      ],
+      "left:no_ops, right:grasp(mug)": [
+        "left:no_ops right:pick_up(mug)"
+      ],
+      "left:no_ops right:pick_up(mug)": [
+        "left:turn_on(faucet),right:place(mug,faucet)"
+      ],
+      "left:turn_on(faucet),right:place(mug,faucet)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_wash_cup_3_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_water_episode_12",
+    "actions_list": [
+      "left:move_to(none, faucet), right:move_to(none, mug)",
+      "left:grasp(faucet), right:grasp(mug)",
+      "left:no_ops, right:pick_up(mug)",
+      "left:turn_on(faucet), right:place(mug,faucet)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, faucet), right:move_to(none, mug)": [
+        "left:grasp(faucet), right:grasp(mug)"
+      ],
+      "left:grasp(faucet), right:grasp(mug)": [
+        "left:no_ops, right:pick_up(mug)"
+      ],
+      "left:no_ops, right:pick_up(mug)": [
+        "left:turn_on(faucet), right:place(mug,faucet)"
+      ],
+      "left:turn_on(faucet), right:place(mug,faucet)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_wash_water_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_water_plant_1_episode_13",
+    "actions_list": [
+      "right:move_to(none, watering_can), left:no_ops",
+      "right:grasp(watering_can), left:no_ops",
+      "right:pick_up(watering_can), left:no_ops",
+      "right:pour(watering_can,water,plant), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, watering_can), left:no_ops": [
+        "right:grasp(watering_can), left:no_ops"
+      ],
+      "right:grasp(watering_can), left:no_ops": [
+        "right:pick_up(watering_can), left:no_ops"
+      ],
+      "right:pick_up(watering_can), left:no_ops": [
+        "right:pour(watering_can,water,plant), left:no_ops"
+      ],
+      "right:pour(watering_can,water,plant), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_water_plant_1_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_3",
+    "actions_list": [
+      "left:no_ops, right:move_to(none,marker)",
+      "left:no_ops, right:grasp(marker)",
+      "left:no_ops, right:pick_up(marker)",
+      "right:draw(marker,'H', whiteboard)",
+      "right:draw(marker,'i', whiteboard)",
+      "right:draw(marker,'!', whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none,marker)": [
+        "left:no_ops, right:grasp(marker)"
+      ],
+      "left:no_ops, right:grasp(marker)": [
+        "left:no_ops, right:pick_up(marker)"
+      ],
+      "left:no_ops, right:pick_up(marker)": [
+        "right:draw(marker,'H', whiteboard)"
+      ],
+      "right:draw(marker,'H', whiteboard)": [
+        "right:draw(marker,'i', whiteboard)"
+      ],
+      "right:draw(marker,'i', whiteboard)": [
+        "right:draw(marker,'!', whiteboard)"
+      ],
+      "right:draw(marker,'!', whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_write_hi_whiteboard_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_14",
+    "actions_list": [
+      "left:no_ops, right:move_to(none,marker)",
+      "left:no_ops, right:grasp(marker)",
+      "left:no_ops, right:pick_up(marker)",
+      "left:no_ops, right:draw(marker'H', whiteboard)",
+      "left:no_ops:, right:draw(marker,'i', whiteboard)",
+      "left:no_ops:, right:draw(marker,'!', whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none,marker)": [
+        "left:no_ops, right:grasp(marker)"
+      ],
+      "left:no_ops, right:grasp(marker)": [
+        "left:no_ops, right:pick_up(marker)"
+      ],
+      "left:no_ops, right:pick_up(marker)": [
+        "left:no_ops, right:draw(marker'H', whiteboard)"
+      ],
+      "left:no_ops, right:draw(marker'H', whiteboard)": [
+        "left:no_ops:, right:draw(marker,'i', whiteboard)"
+      ],
+      "left:no_ops:, right:draw(marker,'i', whiteboard)": [
+        "left:no_ops:, right:draw(marker,'!', whiteboard)"
+      ],
+      "left:no_ops:, right:draw(marker,'!', whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_write_hi_whiteboard_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_zip_the_bag_episode_7",
+    "actions_list": [
+      "left:move_to(none, plastic_file_bag), right:no_ops",
+      "left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)",
+      "left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)",
+      "left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, plastic_file_bag), right:no_ops": [
+        "left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)"
+      ],
+      "left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)": [
+        "left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)"
+      ],
+      "left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)": [
+        "left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)"
+      ],
+      "left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)": []
+    },
+    "v2": "3_generalized_planning_cross_view_multi_view_images_RDT-FT_imgs_1_zip_the_bag_episode_7.png"
+  }
+]
\ No newline at end of file
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+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_ABCD_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Arranging letter blocks to spell \"ABCD\"> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "0-left: move_to(none, 'a'_block),right:no_ops, 1-left:grasp('a'_block),right:no_ops, 2-left:pick_up('a'_block),right:no_ops, 3-left:place('a'_block, left_of_table),right:no_ops, 4-left:move_to(none,'b'_block),right:no_ops, 5-left:grasp('b'_block),right:no_ops, 6-left:pick_up('b'_block),right:no_ops, 7-left:place('b'_block,right_of_'a'_block), right:no_ops, 8-left:no_ops,right:move_to(none, 'd'_block), 9-left:no_ops,right:grasp('d'_block), 10-left:no_ops, right:pick_up('d'_block), 11-left:no_ops,right:place('d'_clock,right_of_'c'_clock)",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png",
+      "cam_high_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_2024_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Arranging blocks to spell \"2024\"> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "0-left:move_to(none, '0'_block), right:no_ops, 1-left:grasp('0'_block), right:no_ops, 2-left:pick_up('0'_block), right:no_ops, 3-left:place('0'_block,left_of_table) right:no_ops, 4-left:move_to(none,'2'_block), right:no_ops, 5-left:grasp('2'_block), right:no_ops, 6-left:pick_up('2'_block),right:no_ops, 7-left:place('2'_block, left_of_'0'_block), right:no_ops, 8-left:no_ops,right:move_to(none,'2'_block), 9-left:no_ops,right:grasp('2'_block), 10-left:no_ops,right:pick_up('2'_block), 11-left:no_ops right:place('2'_block,right_of_'0'_block)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_LEARNING_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Spelling the word \"LEARNING\" with letter blocks.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "0-left:move_to(none,'r'_block), right:no_ops, 1-left:grasp('r'_block), right:no_ops, 2-left:pick_up('r'_block), right:no_ops, 3-left:place('r'_block,left_of_'n'_block), right:no_ops, 4-left:move_to(none,'e'_block), right:no_ops, 5-left:grasp('e'_block), right:no_ops, 6-left:pick_up('e'_block), right:no_ops, 7-left:place('e'_block,right_of_'l'_block), right:no_ops, 8-left:move_to(none,'a'_block), right:no_ops, 9-left:grasp('a'_block), right:no_ops, 10-left: pick_up('a'_block), right:no_ops, 11-left:place('a'_block,right_of_'e'_block), right:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_car_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Spelling the word \"car\" with letter magnets.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "0-left:move_to(none, letter_'c'), right:no_ops, 1-left:grasp(letter_'c'), right:no_ops, 2-left:pick_up(letter_'c'), right:no_ops, 3-left:place(letter_'c',left_of_table), right:no_ops, 4-left:no_ops, right:move_to(none,letter_'a'), 5-left:no_ops, right:grasp(letter_'a'), 6-left:no_ops, right:pick_up(letter_'a'), 7-left:no_ops, right:place(letter_'a',right_of_'c'), 8-left:no_ops, right:move_to(none, letter_'r'), 9-left:no_ops, right:grasp(letter_'r'), 10-left:no_ops, right:pick_up(letter_'r'), 11-left:no_ops, right:place(letter_'r',right_of_'a')",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_sky_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Spelling the word \"sky\" using letter magnets.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, letter_'s'), 1-left:no_ops, right:grasp(letter_'s'), 2-left:no_ops, right:pick_up(letter_'s'), 3-left:no_ops, right:place(letter_'s',left_of_table), 4-left:no_ops, right:move_to(none, letter_'k'), 5-left:no_ops, right:grasp(letter_'k'), 6-left:no_ops, right:pick_up(letter_'k'), 7-left:no_ops, right:place(letter_'k',right_of_'s'), 8-left:no_ops, right: move_to(none, letter_'y'), 9-left:no_ops, right:grasp(letter_'y'), 10-left:no_ops, right:pick_up(letter_'y'), 11-left:no_ops, right:place(letter_'y',right_of_'k')",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_line_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Drawing a straight line.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,a_straight_line,whiteboard)",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_high_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_cool_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Spelling the word \"cool\" with letter magnets.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, letter_'c'), 1-left:no_ops, right:grasp(letter_'c'), 2-left:no_ops, right:pick_up(letter_'c'), 3-left:no_ops, right:place(letter_'c',left_of_table), 4-left:no_ops, right:move_to(none, letter_'o'), 5-left:no_ops, right:grasp(letter_'o'), 6-left:no_ops, right:pick_up(letter_'o'), 7-left:no_ops, right:place(letter_'o',right_of_'c'), 8-left:no_ops, right:move_to(none, letter_'o'), 9-left:no_ops, right:grasp(letter_'o'), 10-left:no_ops, right:pick_up(letter_'o'), 11-left:no_ops, right:place(letter_'c',right_of_'c'), 12-left:no_ops, right:move_to(none, letter_'l'), 13-left:no_ops, right:grasp(letter_'l'), 14-left:no_ops, right:pick_up(letter_'l'), 15-left:no_ops, right:place(letter_'l',right_of_'c')",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_cross_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Drawing a cross mark.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none,pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,cross,whiteboard)",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_spell_love_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Arranging letter magnets to spell the word \"love\".> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.",
+    "gt_answer": "0-left:move_to(none, letter_'l'), right:no_ops, 1-left:grasp(letter_'l'), right:no_ops, 2-left:pick_up(letter_'l'), right:no_ops, 3-left:place(letter_'l',left_of_table), right:no_ops, 4-left:no_ops, right:move_to(none, letter_'o'), 5-left:no_ops, right:grasp(letter_'o'), 6-left:no_ops, right:pick_up(letter_'o'), 7-left:no_ops, right:place(letter_'o', right_of_'l'), 8-left:no_ops, right:move_to(none, letter_'v'), 9-left:no_ops, right:grasp(letter_'v'), 10-left:no_ops, right:pick_up(letter_'v'), 11-left:no_ops, right:place(letter_'l', right_of_'v'), 12-left:no_ops, right:move_to(none, letter_'e'), 13-left:no_ops, right:grasp(letter_'e'), 14-left:no_ops, right:pick_up(letter_'e'), 15-left:no_ops, right:place(letter_'e', right_of_'v')",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png",
+      "cam_high_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_char_A_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Writing the letter 'A' on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(pen, whiteboard), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,letter_'A',whiteboard)",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_high_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <inserting a cylinder into a matching hole> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, pink_cylinder_block), 1-left:no_ops, right:grasp(pink_cylinder_block), 2-left:no_ops, right:pick_up(pink_cylinder_block), 3-left:no_ops, right:place(pink_cylinder_block,bracket), 4-left:no_ops, right:grasp(pink_cylinder_block), 5-left:no_ops, right:pick_up(pink_cylinder_block), 6-left:no_ops, right:insert(pink_cylinder_block,slot)",
+    "image_urls": [
+      "image_side_1_0.png",
+      "image_wrist_1_0.png",
+      "image_wrist_2_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <inserting a purple object into a designated slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, purple_block), 1-left:no_ops, right:grasp(purple_block), 2-left:no_ops, right:pick_up(purple_block), 3-left:no_ops, right:move_to(purple_object, blue_slotted_platform), 4-left:no_ops, right:place(purple_block, bracket), 5-left:no_ops, right:grasp(purple_block), 6-left:no_ops, right:pick_up(purple_block), 7-left:no_ops, right:insert(purple_block,slot)",
+    "image_urls": [
+      "image_wrist_1_0.png",
+      "image_side_1_0.png",
+      "image_wrist_2_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <inserting an oval object into its matching slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "0-left:move_to(none,blue_cylinder_block), right:no_ops, 1-left:grasp(blue_cylinder_block), right:no_ops, 2-left:pick_up(blue_cylinder_block), right:no_ops, 3-left:place(blue_cylinder_block,bracket), right:no_ops, 4-left:grasp(blue_cylinder_block), right:no_ops, 5-left:pick_up(blue_cylinder_block), right:no_ops, 6-left:insert(blue_cylinder_block,slot), right:no_ops",
+    "image_urls": [
+      "image_side_1_0.png",
+      "image_wrist_1_0.png",
+      "image_wrist_2_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <inserting a star-shaped object into a matching slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, star_object), 1-pick_up(star_object), 2-move_to(star_object, designated_slot), 3-insert(star, slot)",
+    "image_urls": [
+      "image_wrist_2_0.png",
+      "image_side_1_0.png",
+      "image_wrist_1_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <inserting an arch-shaped object into its matching slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-move_to(none, arch_shaped_object), 1-grasp(arch_shaped_object), 2-pick_up(arch_shaped_object), 3-move_to(arch_shaped_object, matching_slot), 4-insert(arch_shaped_object, slot)",
+    "image_urls": [
+      "image_wrist_1_0.png",
+      "image_side_1_0.png",
+      "image_wrist_2_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/fmb_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <inserting a cylinder into a designated slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "0-left:move_to(none, blue_cylinder_block), right:no_ops, 1-left:grasp(blue_cylinder_block), right:no_ops, 2-left:pick_up(blue_cylinder_block), right:no_ops, 3-left:place(blue_cylinder_block,bracket), right:no_ops, 4-left:grasp(blue_cylinder_block), right:no_ops, 5-left:pick_up(blue_cylinder_block), right:no_ops, 6-left:insert(blue_cylinder_block,slot), right:no_ops",
+    "image_urls": [
+      "image_wrist_1_0.png",
+      "image_side_1_0.png",
+      "image_wrist_2_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_arrange_word_DEEP_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Spelling the word \"DEEP\" using letter blocks.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.",
+    "gt_answer": "0-left:move_to(none, 'e'_block), right:no_ops, 1-left:grasp('e'_block), right:no_ops, 2-left:pick_up:('e'_block),right:no_ops, 3-left:place('e'_block,table), right:no_ops, 4-left:move_to(none,'e'_block), right:no_ops, 5-left:grasp( 'e'_block), right:no_ops, 6-left:pick_up('e'_block), right:no_ops, 7-left:place('e'_block,right_of_'e'_block), right:no_ops, 8-left:move_to(none, 'd'_block), right:no_ops, 9-left:grasp('d'_block), right:no_ops, 10-left:pick_up('d'_block), right:no_ops, 11-left:place('d'_block,right_'e'_block), right:no_ops, 12-left:no_ops, right:move_to(none,'p'_block), 13-left:no_ops, right:grasp('p'_block), 14-left:no_ops, right:pick_up('p'_block), 15-left:no_ops, right:place('p'_block,right_'e'_block)",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_high_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_flip_calendar_page_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Turning a page of a desk calendar.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, calendar), 1-left:no_ops, right:grasp(top_of_the_current_calendar_page), 2-left:no_ops, right:pick_up(top_of_the_current_calendar_page), 3-left:no_ops, right:turn(page_of_the_calendar,up,backside )",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png",
+      "cam_high_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <sliding a lid to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "0-move_to(none, lid), 1-grasp(lid), 2-move_to(lid, right)",
+    "image_urls": [
+      "exterior_image_2_left_0.png",
+      "wrist_image_left_0.png",
+      "exterior_image_1_left_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_28_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a cloth from a screen to a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none,cloth_hanging_on_the_screen), 1-grasp(cloth_hanging_on_the_screen), 2-pick_up(cloth_hanging_on_the_screen), 3-place(cloth_hanging_on_the_screen, table)",
+    "image_urls": [
+      "wrist_image_left_0.png",
+      "exterior_image_1_left_0.png",
+      "exterior_image_2_left_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_29_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the contents of the orange bowl into the green bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, orange_bowl), 1-grasp(orane_bowl), 2-pick_up(orange_bowl), 3-pour(orange_bowl,rice ,green_bowl)",
+    "image_urls": [
+      "exterior_image_1_left_0.png",
+      "exterior_image_2_left_0.png",
+      "wrist_image_left_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_30_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a plush toy from a pot to a sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, pot), 1-grasp(plush_toy), 2-pick_up(plush_toy), 3-place(plush_toy, sink)",
+    "image_urls": [
+      "exterior_image_2_left_0.png",
+      "exterior_image_1_left_0.png",
+      "wrist_image_left_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_flowering_fake_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Watering a plant.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, kettle), 1-left:no_ops, right:grasp(kettle), 2-left:no_ops, right:pick_up(kettle), 3-left:no_ops, right:pour(kettle,water,plant)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_plug_charger_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charger into a socket.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-right:move_to(none, charger),left:no_ops, 1-right:grasp(charger),left:no_ops, 2-right:pick_up(charger),left:no_ops, 3-transfer(right, left, charger), 4-left:insert(charger, socket), right:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_pull_trash_can_episode_17_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Removing a garbage bag from a trash can and placing it on a table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, trash_can), right:no_ops, 1-left:grasp(trash_can_cover), right:move_to(none, trash_can), 2-left:pick_up(trash_can_cover), right:grasp(garbage_bag), 3-right:no_ops, left:pick_up(garbage_bag), 4-left:no_ops, right:place(garbage_bag,table)",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_high_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/aloha_mobile_cabinet_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing a pot inside a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "0-left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle), 1-left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle), 2-left:pull(cabinet,open),right:pull(cabinet,open), 3-left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle), 4-left:grasp(left_pot_handle),right:grasp(right_pot_handle), 5-left:pick_up(pot),right:pick_up(pot), 6-left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet), 7-left:place(pot,inside_cabinet),right:place(pot,inside_cabinet), 8-left:grasp(left_pot_handle),right:grasp(right_pot_handle), 9-left:push(cabinet,close),right:push(cabinet,close)",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_high_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_draw_check_mark_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Drawing a check mark.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none,pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,check_mark,whiteboard)",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_high_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_121_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a gray doll to the left side of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, gray_doll), 1-grasp(gray_doll), 2-pick_up(gray_doll), 3-place(gray_doll, middle_of_table)",
+    "image_urls": [
+      "exterior_image_1_left_0.png",
+      "exterior_image_2_left_0.png",
+      "wrist_image_left_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_33111_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Rotate the letter A to the right one> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, letter_'a'), 1-grasp(letter_'a'), 2-pick_up(letter_'a'), 3-turn(letter_'a',clockwise,middle_of_table)",
+    "image_urls": [
+      "exterior_image_2_left_0.png",
+      "exterior_image_1_left_0.png",
+      "wrist_image_left_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_147_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a purple toy from a bowl to a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, purple_toy), 1-grasp(purple_toy), 2-pick_up(purple_toy), 3-place(purple_toy, table)",
+    "image_urls": [
+      "exterior_image_1_left_0.png",
+      "exterior_image_2_left_0.png",
+      "wrist_image_left_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_19660_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <moving a bowl to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, bowl), 1-grasp(bowl), 2-pick_up(bowl), 3-place(bowl, right_table)",
+    "image_urls": [
+      "wrist_image_left_0.png",
+      "exterior_image_1_left_0.png",
+      "exterior_image_2_left_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_195_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker in a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, marker), 1-grasp(marker), 2-pick_up(marker), 3-place(marker, middle_of_bowl)",
+    "image_urls": [
+      "exterior_image_1_left_0.png",
+      "exterior_image_2_left_0.png",
+      "wrist_image_left_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/droid_episode_310_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <removing a lid from a pot and placing it on a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, pot_lid), 1-grasp(pot_lid), 2-pick_up(pot_lid), 3-place(lid, table)",
+    "image_urls": [
+      "wrist_image_left_0.png",
+      "exterior_image_1_left_0.png",
+      "exterior_image_2_left_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable,phone), right:hold(phone)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pcik_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone), right:hold(phone)",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_high_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone), right:hold(phone)",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_22_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable,phone), right:hold(phone)",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_28_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone_charging_port), right:hold(phone)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_30_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone), right:hold(phone)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_flip_bottle_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Inverting a plastic bottle.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "0-right:move_to(none, bottle), left:no_ops, 1-right:grasp(bottle), left:no_ops, 2-right:pick_up(bottle), left:no_ops, 3-right:turn(bottle,anticlockwise,inverted),left:no_ops, 4-transfer(right,left,bottle), 5-left:place(bottle,table),right:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_flip_bottle_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Flipping a bottle upside down.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left: no_ops, right:move_to(none, bottle), 1-left: no_ops, right:grasp(bottle), 2-left: no_ops, right:pick_up(bottle), 3-left: no_ops, right:turn(bottle, clockwise, inverted), 4-left: no_ops, right:place(bottle, table)",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png",
+      "cam_high_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Throwing paper balls into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
+    "gt_answer": "0-left:move_to(none,brown_paper_ball), right:no_ops, 1-left:grasp(brown_paper_ball), right:no_ops, 2-left:pick_up(brown_paper_ball), right:no_ops, 3-left:place(brown_paper_ball, trash_can), right:no_ops, 4-left:move_to(none,white_paper_ball), right:no_ops, 5-left:grasp(white_paper_ball), right:no_ops, 6-left:pick_up(white_paper_ball), right:no_ops, 7-left:place(white_paper_ball, trash_can), right:no_ops, 8-left: no_ops, right:move_to(none,patterned_paper_ball), 9-left: no_ops, right:grasp(patterned_paper_ball), 10-left: no_ops, right:pick_up(patterned_paper_ball), 11-left: no_ops, right:place(patterned_paper_ball, trash_can), 12-left: no_ops, right:move_to(none,paper_ball), 13-left: no_ops, right:grasp(paper_ball), 14-left: no_ops, right:pick_up(paper_ball), 15-left: no_ops, right:place(paper_ball, trash_can)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Throwing paper balls into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.",
+    "gt_answer": "0-left:move_to(none, paper_ball), right:no_ops, 1-left:grasp(paper_ball), right:no_ops, 2-left:pick_up(paper_ball), right:no_ops, 3-left:place(paper_ball, trash_can), right:no_ops, 4-left:move_to(none, paper_ball), right:no_ops, 5-left:grasp(paper_ball), right:no_ops, 6-left:pick_up(paper_ball), right:no_ops, 7-left:place(paper_ball, trash_can), right:no_ops, 8-left:move_to(none, paper_ball), right:no_ops, 9-left:grasp(paper_ball), right:no_ops, 10-left:pick_up(paper_ball), right:no_ops, 11-left:place(paper_ball, trash_can), right:no_ops, 12-left:no_ops, right:move_to(none, paper_ball), 13-left:no_ops, right:grasp(paper_ball), 14-left:no_ops, right:pick_up(paper_ball), 15-left:no_ops, right:place(paper_ball, trash_can)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Throwing rubbish into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-right:move_to(none, paper_ball), left:no_ops, 1-right:grasp(paper_ball), left:no_ops, 2-right:pick_up(paper_ball), left:no_ops, 3-right:place(paper_ball, inside_trash_can), left:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Throwing rubbish into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-right:move_to(none, paper_ball), left:no_ops, 1-right:grasp(paper_ball), left:no_ops, 2-right:pick_up(paper_ball), left:no_ops, 3-right:place(paper_ball, inside_trash_can), left:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a USB-C cable into a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Connecting a USB-C cable to a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a Type-C cable into a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a USB-C cable into a charging brick.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_15_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a cable into a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Moving a backpack from a chair to a desk.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, backpack), right:no_ops, 1-left:grasp(backpack), right:no_ops, 2-left:pick_up(backpack), right:no_ops, 3-left:place(backpack, desk), right:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Placing a backpack on a desk.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, backpack), right:no_ops, 1-left:grasp(backpack), right:no_ops, 2-left:pick_up(backpack), right:no_ops, 3-left:place(backpack, desk), right:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_orange_into_bag_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Pick up an orange.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange,inside_bag), right:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png",
+      "cam_high_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_tape_into_bag_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Placing tape into a bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-right:move_to(none, tape), left:no_ops, 1-right:grasp(tape), left:no_ops, 2-right:pick_up(tape), left:no_ops, 3-right:place(tape, inside_bag), left:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pick_tomato_to_desk_episode_16_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Picking up a can and placing it on the table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, can), 1-left:no_ops, right:grasp(can), 2-left:no_ops, right:pick_up(can), 3-left:no_ops, right:place(can, right_side_of_the_table)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_place_octopus_upright_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Righting an octopus plushie.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, octopus_plushie), 1-left:no_ops, right:grasp(octopus_plushie), 2-left:no_ops, right:pick_up(octopus_plushie), 3-left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,), 4-transfer(left, right, octopus_plushie), 5-right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table), 6-right:no_ops, left:place(octopus_plushie,table)",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png",
+      "cam_high_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_pull_chair_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Pulling a chair from under a desk.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, chair), 1-left:no_ops, right:grasp(right_side_of_the_chair), 2-left:no_ops, right:pull(chair, behind)",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Packing clothes into a backpack.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, gray_clothes), right:no_ops, 1-left:grasp(gray_clothes), right:no_ops, 2-left:pick_up(gray_clothes), right:no_ops, 3-left:place(gray_clothes, backpack), right:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Placing two oranges into a paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-left:move_to(none,orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none,orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Placing two oranges into a paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-left:move_to(none,orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none,orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Put an orange into the paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-left:move_to(none, orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none, orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png",
+      "cam_high_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Put an orange into the paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-right:move_to(none, first_orange), left:no_ops, 1-right:grasp(first_orange), left:no_ops, 2-right:pick_up(first_orange), left:no_ops, 3-right:place(first_orange, bag), left:no_ops, 4-right:move_to(none, second_orange), left:no_ops, 5-right:grasp(second_orange), left:no_ops, 6-right:pick_up(second_orange), left:no_ops, 7-right:place(second_orange, bag), left:no_ops",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_high_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Placing two oranges into a paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-left:move_to(none,orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none,orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "0-left:move_to(none, sponge), right:no_ops, 1-left:grasp(sponge), right:no_ops, 2-left:pick_up(sponge), right:no_ops, 3-left:wipe(sponge, left_surface,table), right:no_ops, 4-left:place(sponge,middle_table), right:no_ops, 5-rgiht:move_to(none, sponge), right:no_ops, 6-right:grasp(sponge), left:no_ops, 7-right:pick_up(sponge), left:no_ops, 8-right:wipe(sponge,right_surface,table), left:no_ops, 9-right:place(sponge,middle_table), left:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "0-right:move_to(none, sponge), left:no_ops, 1-right:grasp(sponge), left:no_ops, 2-right:pick_up(sponge), left:no_ops, 3-right:wipe(sponge,right_surface,table), left:no_ops, 4-right:place(sponge,middle_of_table),left:no_ops, 5-left:move_to(none, sponge), right:no_ops, 6-left:grasp(sponge), right:no_ops, 7-left:pick_up(sponge), right:no_ops, 8-left:wipe(sponge,left_surface,table), right:no_ops, 9-left:place(sponge,middle_of_table),right:no_ops",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_high_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "0-right:move_to(none, sponge), left:no_ops, 1-right:grasp(sponge), left:no_ops, 2-right:pick_up(sponge), left:no_ops, 3-right:wipe(sponge, right_surface,table), left:no_ops, 4-right:place(sponge,middle_of_table),left:no_ops, 5-left:move_to(none, sponge), right:no_ops, 6-left:grasp(sponge), right:no_ops, 7-left:pick_up(sponge), right:no_ops, 8-left:wipe(sponge,left_surface,table), right:no_ops, 9-left:place(sponge,middle_of_table),right:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "0-left:move_to(none, sponge), right:no_ops, 1-left:grasp(sponge), right:no_ops, 2-left:pick_up(sponge), right:no_ops, 3-left:wipe(sponge,left_surface,table), right:no_ops, 4-left:place(sponge,middle_of_table),right:no_ops, 5-right:move_to(none, sponge), left:no_ops, 6-right:grasp(sponge), left:no_ops, 7-right:pick_up(sponge), left:no_ops, 8-right:wipe(sponge,right_surface,table), left:no_ops, 9-right:place(sponge,middle_of_table),left:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Retrieving a glasses case from a bag and placing it on a table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, bag), right:move_to(none,glass_case), 1-left:grasp(bag_handle), right:grasp(glass_case), 2-left:pick_up(bag), right:pick_up(glass_case), 3-left:no_ops, right:move_to(glasses_case,table), 4-left:place(bag,table), right:place(glasses_case, table)",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_high_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Retrieving a glasses case from a bag and placing it on a table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, bag), right:move_to(none,glass_case), 1-left:grasp(bag_handle), right:grasp(glass_case), 2-left:pick_up(bag), right:pick_up(glass_case), 3-left:no_ops, right:move_to(glasses_case,table), 4-left:place(bag,table), right:place(glasses_case, table)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Removing a pen cap.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, pen_body), 1-left:move_to(none, pen_cap), right:grasp(pen_body), 2-left:grasp(pen_cap), right:pick_up(pen_body), 3-left:pullout(pen_cap,pen) right:hold(pen_body), 4-left:place(pen_cap,table), right:place(pen_body, table)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Removing a pen cap.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, pen_body), 1-left:move_to(none, pen_cap), right:grasp(pen_body), 2-left:grasp(pen_cap), right:pick_up(pen_body), 3-left:pullout(pen_cap,pen) right:hold(pen_body), 4-left:place(pen_cap,table), right:place(pen_body, table)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Removing a pen cap.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, pen_body), 1-left:move_to(none, pen_cap), right:grasp(pen_body), 2-left:grasp(pen_cap), right:pick_up(pen_body), 3-left:pullout(pen_cap,pen) right:hold(pen_body), 4-left:place(pen_cap,table), right:place(pen_body, table)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Turning off a light switch.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "0-left:move_to(none, light_switch), right:no_ops, 1-left:grasp(switch), right:no_ops, 2-left:press(switch), right:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Turning off a light switch.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "0-left:move_to(none, switch), right:no_ops, 1-left:grasp(switch), right:no_ops, 2-left:press(switch), right:no_ops",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png",
+      "cam_high_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_turn_off_light_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Turning off a light switch.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "0-left:move_to(none, switch), right:no_ops, 1-left:grasp(switch), right:no_ops, 2-left:press(switch), right:no_ops",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_unwind_charging_cable_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Straightening a charging cable.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:no_ops, 1-left:grasp(charging_cable), right:no_ops, 2-left:pick_up(charging_cable), right:no_ops, 3-left:no_ops, right:grasp(other_ end_charging), 4-left:pull(charging,straight), right:pull(charging,straight)",
+    "image_urls": [
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png",
+      "cam_high_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_unzip_the_bag_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Opening a zippered file bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops,right:move_to(none, bag), 1-right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper), 2-right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper), 3-right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_cup_1_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Filling a mug with water from a faucet.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, faucet), right:move_to(none, mug), 1-left:grasp(faucet), right:grasp(mug), 2-left:no_ops, right:pick_up(mug), 3-left:turn_on(faucet), right:place(mug,faucet)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_right_wrist_0.png",
+      "cam_left_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_cup_3_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Rinsing a mug.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none,faucet), right:move_to(none, mug), 1-left:no_ops, right:grasp(mug), 2-left:no_ops right:pick_up(mug), 3-left:turn_on(faucet),right:place(mug,faucet)",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_high_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_wash_water_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Filling a mug with water from a faucet.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, faucet), right:move_to(none, mug), 1-left:grasp(faucet), right:grasp(mug), 2-left:no_ops, right:pick_up(mug), 3-left:turn_on(faucet), right:place(mug,faucet)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_water_plant_1_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Watering a plant.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-right:move_to(none, watering_can), left:no_ops, 1-right:grasp(watering_can), left:no_ops, 2-right:pick_up(watering_can), left:no_ops, 3-right:pour(watering_can,water,plant), left:no_ops",
+    "image_urls": [
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png",
+      "cam_high_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Writing \"Hi!\" on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none,marker), 1-left:no_ops, right:grasp(marker), 2-left:no_ops, right:pick_up(marker), 3-right:draw(marker,'H', whiteboard), 4-right:draw(marker,'i', whiteboard), 5-right:draw(marker,'!', whiteboard)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Writing \"Hi!\" on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none,marker), 1-left:no_ops, right:grasp(marker), 2-left:no_ops, right:pick_up(marker), 3-left:no_ops, right:draw(marker'H', whiteboard), 4-left:no_ops:, right:draw(marker,'i', whiteboard), 5-left:no_ops:, right:draw(marker,'!', whiteboard)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/multi_view/images/RDT-FT_imgs_1_zip_the_bag_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "multi_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Closing a zipper on a plastic file bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, plastic_file_bag), right:no_ops, 1-left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper), 2-left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper), 3-left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)",
+    "image_urls": [
+      "cam_high_0.png",
+      "cam_left_wrist_0.png",
+      "cam_right_wrist_0.png"
+    ]
+  }
+]
\ No newline at end of file
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+[
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_ABCD_episode_2",
+    "actions_list": [
+      "left: move_to(none, 'a'_block),right:no_ops",
+      "left:grasp('a'_block),right:no_ops",
+      "left:pick_up('a'_block),right:no_ops",
+      "left:place('a'_block, left_of_table),right:no_ops",
+      "left:move_to(none,'b'_block),right:no_ops",
+      "left:grasp('b'_block),right:no_ops",
+      "left:pick_up('b'_block),right:no_ops",
+      "left:place('b'_block,right_of_'a'_block), right:no_ops",
+      "left:no_ops,right:move_to(none, 'd'_block)",
+      "left:no_ops,right:grasp('d'_block)",
+      "left:no_ops, right:pick_up('d'_block)",
+      "left:no_ops,right:place('d'_clock,right_of_'c'_clock)"
+    ],
+    "gt_dag": {
+      "left: move_to(none, 'a'_block),right:no_ops": [
+        "left:grasp('a'_block),right:no_ops"
+      ],
+      "left:grasp('a'_block),right:no_ops": [
+        "left:pick_up('a'_block),right:no_ops"
+      ],
+      "left:pick_up('a'_block),right:no_ops": [
+        "left:place('a'_block, left_of_table),right:no_ops"
+      ],
+      "left:place('a'_block, left_of_table),right:no_ops": [
+        "left:move_to(none,'b'_block),right:no_ops"
+      ],
+      "left:move_to(none,'b'_block),right:no_ops": [
+        "left:grasp('b'_block),right:no_ops"
+      ],
+      "left:grasp('b'_block),right:no_ops": [
+        "left:pick_up('b'_block),right:no_ops"
+      ],
+      "left:pick_up('b'_block),right:no_ops": [
+        "left:place('b'_block,right_of_'a'_block), right:no_ops"
+      ],
+      "left:place('b'_block,right_of_'a'_block), right:no_ops": [],
+      "left:no_ops,right:move_to(none, 'd'_block)": [
+        "left:no_ops,right:grasp('d'_block)"
+      ],
+      "left:no_ops,right:grasp('d'_block)": [
+        "left:no_ops, right:pick_up('d'_block)"
+      ],
+      "left:no_ops, right:pick_up('d'_block)": [
+        "left:no_ops,right:place('d'_clock,right_of_'c'_clock)"
+      ],
+      "left:no_ops,right:place('d'_clock,right_of_'c'_clock)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_arrange_word_ABCD_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_2024_episode_0",
+    "actions_list": [
+      "left:move_to(none, '0'_block), right:no_ops",
+      "left:grasp('0'_block), right:no_ops",
+      "left:pick_up('0'_block), right:no_ops",
+      "left:place('0'_block,left_of_table) right:no_ops",
+      "left:move_to(none,'2'_block), right:no_ops",
+      "left:grasp('2'_block), right:no_ops",
+      "left:pick_up('2'_block),right:no_ops",
+      "left:place('2'_block, left_of_'0'_block), right:no_ops",
+      "left:no_ops,right:move_to(none,'2'_block)",
+      "left:no_ops,right:grasp('2'_block)",
+      "left:no_ops,right:pick_up('2'_block)",
+      "left:no_ops right:place('2'_block,right_of_'0'_block)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, '0'_block), right:no_ops": [],
+      "left:grasp('0'_block), right:no_ops": [],
+      "left:pick_up('0'_block), right:no_ops": [],
+      "left:place('0'_block,left_of_table) right:no_ops": [],
+      "left:move_to(none,'2'_block), right:no_ops": [],
+      "left:grasp('2'_block), right:no_ops": [],
+      "left:pick_up('2'_block),right:no_ops": [],
+      "left:place('2'_block, left_of_'0'_block), right:no_ops": [],
+      "left:no_ops,right:move_to(none,'2'_block)": [],
+      "left:no_ops,right:grasp('2'_block)": [],
+      "left:no_ops,right:pick_up('2'_block)": [],
+      "left:no_ops right:place('2'_block,right_of_'0'_block)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_arrange_word_2024_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_LEARNING_episode_0",
+    "actions_list": [
+      "left:move_to(none,'r'_block), right:no_ops",
+      "left:grasp('r'_block), right:no_ops",
+      "left:pick_up('r'_block), right:no_ops",
+      "left:place('r'_block,left_of_'n'_block), right:no_ops",
+      "left:move_to(none,'e'_block), right:no_ops",
+      "left:grasp('e'_block), right:no_ops",
+      "left:pick_up('e'_block), right:no_ops",
+      "left:place('e'_block,right_of_'l'_block), right:no_ops",
+      "left:move_to(none,'a'_block), right:no_ops",
+      "left:grasp('a'_block), right:no_ops",
+      "left: pick_up('a'_block), right:no_ops",
+      "left:place('a'_block,right_of_'e'_block), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,'r'_block), right:no_ops": [
+        "left:grasp('r'_block), right:no_ops"
+      ],
+      "left:grasp('r'_block), right:no_ops": [
+        "left:pick_up('r'_block), right:no_ops"
+      ],
+      "left:pick_up('r'_block), right:no_ops": [
+        "left:place('r'_block,left_of_'n'_block), right:no_ops"
+      ],
+      "left:place('r'_block,left_of_'n'_block), right:no_ops": [],
+      "left:move_to(none,'e'_block), right:no_ops": [
+        "left:grasp('e'_block), right:no_ops"
+      ],
+      "left:grasp('e'_block), right:no_ops": [
+        "left:pick_up('e'_block), right:no_ops"
+      ],
+      "left:pick_up('e'_block), right:no_ops": [
+        "left:place('e'_block,right_of_'l'_block), right:no_ops"
+      ],
+      "left:place('e'_block,right_of_'l'_block), right:no_ops": [
+        "left:move_to(none,'a'_block), right:no_ops"
+      ],
+      "left:move_to(none,'a'_block), right:no_ops": [
+        "left:grasp('a'_block), right:no_ops"
+      ],
+      "left:grasp('a'_block), right:no_ops": [
+        "left: pick_up('a'_block), right:no_ops"
+      ],
+      "left: pick_up('a'_block), right:no_ops": [
+        "left:place('a'_block,right_of_'e'_block), right:no_ops"
+      ],
+      "left:place('a'_block,right_of_'e'_block), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_arrange_word_LEARNING_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_spell_car_episode_2",
+    "actions_list": [
+      "left:move_to(none, letter_'c'), right:no_ops",
+      "left:grasp(letter_'c'), right:no_ops",
+      "left:pick_up(letter_'c'), right:no_ops",
+      "left:place(letter_'c',left_of_table), right:no_ops",
+      "left:no_ops, right:move_to(none,letter_'a')",
+      "left:no_ops, right:grasp(letter_'a')",
+      "left:no_ops, right:pick_up(letter_'a')",
+      "left:no_ops, right:place(letter_'a',right_of_'c')",
+      "left:no_ops, right:move_to(none, letter_'r')",
+      "left:no_ops, right:grasp(letter_'r')",
+      "left:no_ops, right:pick_up(letter_'r')",
+      "left:no_ops, right:place(letter_'r',right_of_'a')"
+    ],
+    "gt_dag": {
+      "left:move_to(none, letter_'c'), right:no_ops": [
+        "left:grasp(letter_'c'), right:no_ops"
+      ],
+      "left:grasp(letter_'c'), right:no_ops": [
+        "left:pick_up(letter_'c'), right:no_ops"
+      ],
+      "left:pick_up(letter_'c'), right:no_ops": [
+        "left:place(letter_'c',left_of_table), right:no_ops"
+      ],
+      "left:place(letter_'c',left_of_table), right:no_ops": [
+        "left:no_ops, right:move_to(none,letter_'a')"
+      ],
+      "left:no_ops, right:move_to(none,letter_'a')": [
+        "left:no_ops, right:grasp(letter_'a')"
+      ],
+      "left:no_ops, right:grasp(letter_'a')": [
+        "left:no_ops, right:pick_up(letter_'a')"
+      ],
+      "left:no_ops, right:pick_up(letter_'a')": [
+        "left:no_ops, right:place(letter_'a',right_of_'c')"
+      ],
+      "left:no_ops, right:place(letter_'a',right_of_'c')": [
+        "left:no_ops, right:move_to(none, letter_'r')"
+      ],
+      "left:no_ops, right:move_to(none, letter_'r')": [
+        "left:no_ops, right:grasp(letter_'r')"
+      ],
+      "left:no_ops, right:grasp(letter_'r')": [
+        "left:no_ops, right:pick_up(letter_'r')"
+      ],
+      "left:no_ops, right:pick_up(letter_'r')": [
+        "left:no_ops, right:place(letter_'r',right_of_'a')"
+      ],
+      "left:no_ops, right:place(letter_'r',right_of_'a')": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_spell_car_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_line_episode_1",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, pen)",
+      "left:no_ops, right:grasp(pen)",
+      "left:no_ops, right:pick_up(pen)",
+      "left:no_ops, right:draw(pen,a_straight_line,whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, pen)": [
+        "left:no_ops, right:grasp(pen)"
+      ],
+      "left:no_ops, right:grasp(pen)": [
+        "left:no_ops, right:pick_up(pen)"
+      ],
+      "left:no_ops, right:pick_up(pen)": [
+        "left:no_ops, right:draw(pen,a_straight_line,whiteboard)"
+      ],
+      "left:no_ops, right:draw(pen,a_straight_line,whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_line_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_spell_cool_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, letter_'c')",
+      "left:no_ops, right:grasp(letter_'c')",
+      "left:no_ops, right:pick_up(letter_'c')",
+      "left:no_ops, right:place(letter_'c',left_of_table)",
+      "left:no_ops, right:move_to(none, letter_'o')",
+      "left:no_ops, right:grasp(letter_'o')",
+      "left:no_ops, right:pick_up(letter_'o')",
+      "left:no_ops, right:place(letter_'o',right_of_'c')",
+      "left:no_ops, right:move_to(none, letter_'o')",
+      "left:no_ops, right:grasp(letter_'o')",
+      "left:no_ops, right:pick_up(letter_'o')",
+      "left:no_ops, right:place(letter_'c',right_of_'c')",
+      "left:no_ops, right:move_to(none, letter_'l')",
+      "left:no_ops, right:grasp(letter_'l')",
+      "left:no_ops, right:pick_up(letter_'l')",
+      "left:no_ops, right:place(letter_'l',right_of_'c')"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, letter_'c')": [
+        "left:no_ops, right:grasp(letter_'c')"
+      ],
+      "left:no_ops, right:grasp(letter_'c')": [
+        "left:no_ops, right:pick_up(letter_'c')"
+      ],
+      "left:no_ops, right:pick_up(letter_'c')": [
+        "left:no_ops, right:place(letter_'c',left_of_table)"
+      ],
+      "left:no_ops, right:place(letter_'c',left_of_table)": [
+        "left:no_ops, right:move_to(none, letter_'o')",
+        "left:no_ops, right:move_to(none, letter_'o')<1>"
+      ],
+      "left:no_ops, right:grasp(letter_'o')": [
+        "left:no_ops, right:pick_up(letter_'o')"
+      ],
+      "left:no_ops, right:pick_up(letter_'o')": [
+        "left:no_ops, right:place(letter_'o',right_of_'c')"
+      ],
+      "left:no_ops, right:place(letter_'o',right_of_'c')": [
+        "left:no_ops, right:move_to(none, letter_'l')"
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+        "left:no_ops, right:place(letter_'c',right_of_'c')"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_spell_cool_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_cross_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none,pen)",
+      "left:no_ops, right:grasp(pen)",
+      "left:no_ops, right:pick_up(pen)",
+      "left:no_ops, right:draw(pen,cross,whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none,pen)": [
+        "left:no_ops, right:grasp(pen)"
+      ],
+      "left:no_ops, right:grasp(pen)": [
+        "left:no_ops, right:pick_up(pen)"
+      ],
+      "left:no_ops, right:pick_up(pen)": [
+        "left:no_ops, right:draw(pen,cross,whiteboard)"
+      ],
+      "left:no_ops, right:draw(pen,cross,whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_cross_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_spell_love_episode_0",
+    "actions_list": [
+      "left:move_to(none, letter_'l'), right:no_ops",
+      "left:grasp(letter_'l'), right:no_ops",
+      "left:pick_up(letter_'l'), right:no_ops",
+      "left:place(letter_'l',left_of_table), right:no_ops",
+      "left:no_ops, right:move_to(none, letter_'o')",
+      "left:no_ops, right:grasp(letter_'o')",
+      "left:no_ops, right:pick_up(letter_'o')",
+      "left:no_ops, right:place(letter_'o', right_of_'l')",
+      "left:no_ops, right:move_to(none, letter_'v')",
+      "left:no_ops, right:grasp(letter_'v')",
+      "left:no_ops, right:pick_up(letter_'v')",
+      "left:no_ops, right:place(letter_'l', right_of_'v')",
+      "left:no_ops, right:move_to(none, letter_'e')",
+      "left:no_ops, right:grasp(letter_'e')",
+      "left:no_ops, right:pick_up(letter_'e')",
+      "left:no_ops, right:place(letter_'e', right_of_'v')"
+    ],
+    "gt_dag": {
+      "left:move_to(none, letter_'l'), right:no_ops": [
+        "left:grasp(letter_'l'), right:no_ops"
+      ],
+      "left:grasp(letter_'l'), right:no_ops": [
+        "left:pick_up(letter_'l'), right:no_ops"
+      ],
+      "left:pick_up(letter_'l'), right:no_ops": [
+        "left:place(letter_'l',left_of_table), right:no_ops"
+      ],
+      "left:place(letter_'l',left_of_table), right:no_ops": [
+        "left:no_ops, right:move_to(none, letter_'o')"
+      ],
+      "left:no_ops, right:move_to(none, letter_'o')": [
+        "left:no_ops, right:grasp(letter_'o')"
+      ],
+      "left:no_ops, right:grasp(letter_'o')": [
+        "left:no_ops, right:pick_up(letter_'o')"
+      ],
+      "left:no_ops, right:pick_up(letter_'o')": [
+        "left:no_ops, right:place(letter_'o', right_of_'l')"
+      ],
+      "left:no_ops, right:place(letter_'o', right_of_'l')": [
+        "left:no_ops, right:move_to(none, letter_'v')"
+      ],
+      "left:no_ops, right:move_to(none, letter_'v')": [
+        "left:no_ops, right:grasp(letter_'v')"
+      ],
+      "left:no_ops, right:grasp(letter_'v')": [
+        "left:no_ops, right:pick_up(letter_'v')"
+      ],
+      "left:no_ops, right:pick_up(letter_'v')": [
+        "left:no_ops, right:place(letter_'l', right_of_'v')"
+      ],
+      "left:no_ops, right:place(letter_'l', right_of_'v')": [
+        "left:no_ops, right:move_to(none, letter_'e')"
+      ],
+      "left:no_ops, right:move_to(none, letter_'e')": [
+        "left:no_ops, right:grasp(letter_'e')"
+      ],
+      "left:no_ops, right:grasp(letter_'e')": [
+        "left:no_ops, right:pick_up(letter_'e')"
+      ],
+      "left:no_ops, right:pick_up(letter_'e')": [
+        "left:no_ops, right:place(letter_'e', right_of_'v')"
+      ],
+      "left:no_ops, right:place(letter_'e', right_of_'v')": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_spell_love_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_char_A_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(pen, whiteboard)",
+      "left:no_ops, right:grasp(pen)",
+      "left:no_ops, right:pick_up(pen)",
+      "left:no_ops, right:draw(pen,letter_'A',whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(pen, whiteboard)": [
+        "left:no_ops, right:grasp(pen)"
+      ],
+      "left:no_ops, right:grasp(pen)": [
+        "left:no_ops, right:pick_up(pen)"
+      ],
+      "left:no_ops, right:pick_up(pen)": [
+        "left:no_ops, right:draw(pen,letter_'A',whiteboard)"
+      ],
+      "left:no_ops, right:draw(pen,letter_'A',whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_char_A_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_char_Z_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none,pen)",
+      "left:no_ops, right:grasp(pen)",
+      "left:no_ops, right:pick_up(pen)",
+      "left:no_ops, right:draw(pen,letter_'Z',whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none,pen)": [
+        "left:no_ops, right:grasp(pen)"
+      ],
+      "left:no_ops, right:grasp(pen)": [
+        "left:no_ops, right:pick_up(pen)"
+      ],
+      "left:no_ops, right:pick_up(pen)": [
+        "left:no_ops, right:draw(pen,letter_'Z',whiteboard)"
+      ],
+      "left:no_ops, right:draw(pen,letter_'Z',whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_char_Z_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_rectangle_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none,pen)",
+      "left:no_ops, right:grasp(pen)",
+      "left:no_ops, right:pick_up(pen)",
+      "left:no_ops, right:draw(pen,rectangle,whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none,pen)": [
+        "left:no_ops, right:grasp(pen)"
+      ],
+      "left:no_ops, right:grasp(pen)": [
+        "left:no_ops, right:pick_up(pen)"
+      ],
+      "left:no_ops, right:pick_up(pen)": [
+        "left:no_ops, right:draw(pen,rectangle,whiteboard)"
+      ],
+      "left:no_ops, right:draw(pen,rectangle,whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_rectangle_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, green_block)",
+      "left:no_ops, right:grasp(green_block)",
+      "left:no_ops, right:pick_up(green_block)",
+      "left:no_ops, right:insert(green_block, slot)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, green_block)": [
+        "left:no_ops, right:grasp(green_block)"
+      ],
+      "left:no_ops, right:grasp(green_block)": [
+        "left:no_ops, right:pick_up(green_block)"
+      ],
+      "left:no_ops, right:pick_up(green_block)": [
+        "left:no_ops, right:insert(green_block, slot)"
+      ],
+      "left:no_ops, right:insert(green_block, slot)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_1",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, pink_cylinder_block)",
+      "left:no_ops, right:grasp(pink_cylinder_block)",
+      "left:no_ops, right:pick_up(pink_cylinder_block)",
+      "left:no_ops, right:place(pink_cylinder_block,bracket)",
+      "left:no_ops, right:grasp(pink_cylinder_block)",
+      "left:no_ops, right:pick_up(pink_cylinder_block)",
+      "left:no_ops, right:insert(pink_cylinder_block,slot)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, pink_cylinder_block)": [
+        "left:no_ops, right:grasp(pink_cylinder_block)"
+      ],
+      "left:no_ops, right:place(pink_cylinder_block,bracket)": [
+        "left:no_ops, right:grasp(pink_cylinder_block) left:no_ops, right:pick_up(pink_cylinder_block)"
+      ],
+      "left:no_ops, right:grasp(pink_cylinder_block)": [
+        "left:no_ops, right:pick_up(pink_cylinder_block)"
+      ],
+      "left:no_ops, right:pick_up(pink_cylinder_block)": [
+        "left:no_ops, right:place(pink_cylinder_block,bracket)"
+      ],
+      "left:no_ops, right:insert(pink_cylinder_block,slot)": [],
+      "left:no_ops, right:grasp(pink_cylinder_block) left:no_ops, right:pick_up(pink_cylinder_block)": [
+        "left:no_ops, right:insert(pink_cylinder_block,slot)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_3",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, purple_block)",
+      "left:no_ops, right:grasp(purple_block)",
+      "left:no_ops, right:pick_up(purple_block)",
+      "left:no_ops, right:move_to(purple_object, blue_slotted_platform)",
+      "left:no_ops, right:place(purple_block, bracket)",
+      "left:no_ops, right:grasp(purple_block)",
+      "left:no_ops, right:pick_up(purple_block)",
+      "left:no_ops, right:insert(purple_block,slot)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, purple_block)": [
+        "left:no_ops, right:grasp(purple_block)"
+      ],
+      "left:no_ops, right:move_to(purple_object, blue_slotted_platform)": [
+        "left:no_ops, right:place(purple_block, bracket)"
+      ],
+      "left:no_ops, right:place(purple_block, bracket)": [
+        "left:no_ops, right:grasp(purple_block)<1>"
+      ],
+      "left:no_ops, right:grasp(purple_block)": [
+        "left:no_ops, right:pick_up(purple_block)"
+      ],
+      "left:no_ops, right:pick_up(purple_block)": [
+        "left:no_ops, right:move_to(purple_object, blue_slotted_platform)"
+      ],
+      "left:no_ops, right:insert(purple_block,slot)": [],
+      "left:no_ops, right:grasp(purple_block)<1>": [
+        "left:no_ops, right:pick_up(purple_block)<1>"
+      ],
+      "left:no_ops, right:pick_up(purple_block)<1>": [
+        "left:no_ops, right:insert(purple_block,slot)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_6",
+    "actions_list": [
+      "left:move_to(none,blue_cylinder_block), right:no_ops",
+      "left:grasp(blue_cylinder_block), right:no_ops",
+      "left:pick_up(blue_cylinder_block), right:no_ops",
+      "left:place(blue_cylinder_block,bracket), right:no_ops",
+      "left:grasp(blue_cylinder_block), right:no_ops",
+      "left:pick_up(blue_cylinder_block), right:no_ops",
+      "left:insert(blue_cylinder_block,slot), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,blue_cylinder_block), right:no_ops": [
+        "left:grasp(blue_cylinder_block), right:no_ops"
+      ],
+      "left:grasp(blue_cylinder_block), right:no_ops": [
+        "left:pick_up(blue_cylinder_block), right:no_ops"
+      ],
+      "left:pick_up(blue_cylinder_block), right:no_ops": [
+        "left:place(blue_cylinder_block,bracket), right:no_ops"
+      ],
+      "left:place(blue_cylinder_block,bracket), right:no_ops": [
+        "left:grasp(blue_cylinder_block), right:no_ops<1>"
+      ],
+      "left:insert(blue_cylinder_block,slot), right:no_ops": [],
+      "left:grasp(blue_cylinder_block), right:no_ops<1>": [
+        "left:pick_up(blue_cylinder_block), right:no_ops<1>"
+      ],
+      "left:pick_up(blue_cylinder_block), right:no_ops<1>": [
+        "left:insert(blue_cylinder_block,slot), right:no_ops"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_9",
+    "actions_list": [
+      "move_to(none, arch_shaped_object)",
+      "grasp(arch_shaped_object)",
+      "pick_up(arch_shaped_object)",
+      "move_to(arch_shaped_object, matching_slot)",
+      "insert(arch_shaped_object, slot)"
+    ],
+    "gt_dag": {
+      "move_to(none, arch_shaped_object)": [
+        "grasp(arch_shaped_object)"
+      ],
+      "grasp(arch_shaped_object)": [
+        "pick_up(arch_shaped_object)"
+      ],
+      "pick_up(arch_shaped_object)": [
+        "move_to(arch_shaped_object, matching_slot)"
+      ],
+      "move_to(arch_shaped_object, matching_slot)": [
+        "insert(arch_shaped_object, slot)"
+      ],
+      "insert(arch_shaped_object, slot)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_10",
+    "actions_list": [
+      "left:move_to(none, blue_cylinder_block), right:no_ops",
+      "left:grasp(blue_cylinder_block), right:no_ops",
+      "left:pick_up(blue_cylinder_block), right:no_ops",
+      "left:place(blue_cylinder_block,bracket), right:no_ops",
+      "left:grasp(blue_cylinder_block), right:no_ops",
+      "left:pick_up(blue_cylinder_block), right:no_ops",
+      "left:insert(blue_cylinder_block,slot), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, blue_cylinder_block), right:no_ops": [
+        "left:grasp(blue_cylinder_block), right:no_ops"
+      ],
+      "left:place(blue_cylinder_block,bracket), right:no_ops": [
+        "left:grasp(blue_cylinder_block), right:no_ops left:pick_up(blue_cylinder_block), right:no_ops"
+      ],
+      "left:grasp(blue_cylinder_block), right:no_ops": [
+        "left:pick_up(blue_cylinder_block), right:no_ops"
+      ],
+      "left:pick_up(blue_cylinder_block), right:no_ops": [
+        "left:place(blue_cylinder_block,bracket), right:no_ops"
+      ],
+      "left:insert(blue_cylinder_block,slot), right:no_ops": [],
+      "left:grasp(blue_cylinder_block), right:no_ops left:pick_up(blue_cylinder_block), right:no_ops": [
+        "left:insert(blue_cylinder_block,slot), right:no_ops"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_DEEP_episode_2",
+    "actions_list": [
+      "left:move_to(none, 'e'_block), right:no_ops",
+      "left:grasp('e'_block), right:no_ops",
+      "left:pick_up:('e'_block),right:no_ops",
+      "left:place('e'_block,table), right:no_ops",
+      "left:move_to(none,'e'_block), right:no_ops",
+      "left:grasp( 'e'_block), right:no_ops",
+      "left:pick_up('e'_block), right:no_ops",
+      "left:place('e'_block,right_of_'e'_block), right:no_ops",
+      "left:move_to(none, 'd'_block), right:no_ops",
+      "left:grasp('d'_block), right:no_ops",
+      "left:pick_up('d'_block), right:no_ops",
+      "left:place('d'_block,right_'e'_block), right:no_ops",
+      "left:no_ops, right:move_to(none,'p'_block)",
+      "left:no_ops, right:grasp('p'_block)",
+      "left:no_ops, right:pick_up('p'_block)",
+      "left:no_ops, right:place('p'_block,right_'e'_block)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, 'e'_block), right:no_ops": [
+        "left:grasp('e'_block), right:no_ops"
+      ],
+      "left:grasp('e'_block), right:no_ops": [
+        "left:pick_up:('e'_block),right:no_ops"
+      ],
+      "left:pick_up:('e'_block),right:no_ops": [
+        "left:place('e'_block,table), right:no_ops"
+      ],
+      "left:place('e'_block,table), right:no_ops": [],
+      "left:move_to(none,'e'_block), right:no_ops": [
+        "left:grasp( 'e'_block), right:no_ops"
+      ],
+      "left:grasp( 'e'_block), right:no_ops": [
+        "left:pick_up('e'_block), right:no_ops"
+      ],
+      "left:pick_up('e'_block), right:no_ops": [
+        "left:place('e'_block,right_of_'e'_block), right:no_ops"
+      ],
+      "left:place('e'_block,right_of_'e'_block), right:no_ops": [],
+      "left:move_to(none, 'd'_block), right:no_ops": [
+        "left:grasp('d'_block), right:no_ops"
+      ],
+      "left:grasp('d'_block), right:no_ops": [
+        "left:pick_up('d'_block), right:no_ops"
+      ],
+      "left:pick_up('d'_block), right:no_ops": [
+        "left:place('d'_block,right_'e'_block), right:no_ops"
+      ],
+      "left:place('d'_block,right_'e'_block), right:no_ops": [],
+      "left:no_ops, right:move_to(none,'p'_block)": [
+        "left:no_ops, right:grasp('p'_block)"
+      ],
+      "left:no_ops, right:grasp('p'_block)": [
+        "left:no_ops, right:pick_up('p'_block)"
+      ],
+      "left:no_ops, right:pick_up('p'_block)": [
+        "left:no_ops, right:place('p'_block,right_'e'_block)"
+      ],
+      "left:no_ops, right:place('p'_block,right_'e'_block)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_arrange_word_DEEP_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_flip_calendar_page_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, calendar)",
+      "left:no_ops, right:grasp(top_of_the_current_calendar_page)",
+      "left:no_ops, right:pick_up(top_of_the_current_calendar_page)",
+      "left:no_ops, right:turn(page_of_the_calendar,up,backside )"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, calendar)": [
+        "left:no_ops, right:grasp(top_of_the_current_calendar_page)"
+      ],
+      "left:no_ops, right:grasp(top_of_the_current_calendar_page)": [
+        "left:no_ops, right:pick_up(top_of_the_current_calendar_page)"
+      ],
+      "left:no_ops, right:pick_up(top_of_the_current_calendar_page)": [
+        "left:no_ops, right:turn(page_of_the_calendar,up,backside )"
+      ],
+      "left:no_ops, right:turn(page_of_the_calendar,up,backside )": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_flip_calendar_page_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/droid_episode_11",
+    "actions_list": [
+      "move_to(none, lid)",
+      "grasp(lid)",
+      "move_to(lid, right)"
+    ],
+    "gt_dag": {
+      "move_to(none, lid)": [
+        "grasp(lid)"
+      ],
+      "grasp(lid)": [
+        "move_to(lid, right)"
+      ],
+      "move_to(lid, right)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/droid_episode_29",
+    "actions_list": [
+      "move_to(none, orange_bowl)",
+      "grasp(orane_bowl)",
+      "pick_up(orange_bowl)",
+      "pour(orange_bowl,rice ,green_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, orange_bowl)": [
+        "grasp(orane_bowl)"
+      ],
+      "grasp(orane_bowl)": [
+        "pick_up(orange_bowl)"
+      ],
+      "pick_up(orange_bowl)": [
+        "pour(orange_bowl,rice ,green_bowl)"
+      ],
+      "pour(orange_bowl,rice ,green_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_29.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/droid_episode_30",
+    "actions_list": [
+      "move_to(none, pot)",
+      "grasp(plush_toy)",
+      "pick_up(plush_toy)",
+      "place(plush_toy, sink)"
+    ],
+    "gt_dag": {
+      "move_to(none, pot)": [
+        "grasp(plush_toy)"
+      ],
+      "grasp(plush_toy)": [
+        "pick_up(plush_toy)"
+      ],
+      "pick_up(plush_toy)": [
+        "place(plush_toy, sink)"
+      ],
+      "place(plush_toy, sink)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_30.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_flowering_fake_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, kettle)",
+      "left:no_ops, right:grasp(kettle)",
+      "left:no_ops, right:pick_up(kettle)",
+      "left:no_ops, right:pour(kettle,water,plant)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, kettle)": [
+        "left:no_ops, right:grasp(kettle)"
+      ],
+      "left:no_ops, right:grasp(kettle)": [
+        "left:no_ops, right:pick_up(kettle)"
+      ],
+      "left:no_ops, right:pick_up(kettle)": [
+        "left:no_ops, right:pour(kettle,water,plant)"
+      ],
+      "left:no_ops, right:pour(kettle,water,plant)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_flowering_fake_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_plug_charger_episode_0",
+    "actions_list": [
+      "right:move_to(none, charger),left:no_ops",
+      "right:grasp(charger),left:no_ops",
+      "right:pick_up(charger),left:no_ops",
+      "transfer(right, left, charger)",
+      "left:insert(charger, socket), right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, charger),left:no_ops": [
+        "right:grasp(charger),left:no_ops"
+      ],
+      "right:grasp(charger),left:no_ops": [
+        "right:pick_up(charger),left:no_ops"
+      ],
+      "right:pick_up(charger),left:no_ops": [
+        "transfer(right, left, charger)"
+      ],
+      "transfer(right, left, charger)": [
+        "left:insert(charger, socket), right:no_ops"
+      ],
+      "left:insert(charger, socket), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_plug_charger_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_pull_trash_can_episode_17",
+    "actions_list": [
+      "left:move_to(none, trash_can), right:no_ops",
+      "left:grasp(trash_can_cover), right:move_to(none, trash_can)",
+      "left:pick_up(trash_can_cover), right:grasp(garbage_bag)",
+      "right:no_ops, left:pick_up(garbage_bag)",
+      "left:no_ops, right:place(garbage_bag,table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, trash_can), right:no_ops": [
+        "left:grasp(trash_can_cover), right:move_to(none, trash_can)"
+      ],
+      "left:grasp(trash_can_cover), right:move_to(none, trash_can)": [
+        "left:pick_up(trash_can_cover), right:grasp(garbage_bag)"
+      ],
+      "left:pick_up(trash_can_cover), right:grasp(garbage_bag)": [
+        "right:no_ops, left:pick_up(garbage_bag)"
+      ],
+      "right:no_ops, left:pick_up(garbage_bag)": [
+        "left:no_ops, right:place(garbage_bag,table)"
+      ],
+      "left:no_ops, right:place(garbage_bag,table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_pull_trash_can_episode_17.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/aloha_mobile_cabinet_episode_0",
+    "actions_list": [
+      "left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle)",
+      "left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)",
+      "left:pull(cabinet,open),right:pull(cabinet,open)",
+      "left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)",
+      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)",
+      "left:pick_up(pot),right:pick_up(pot)",
+      "left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)",
+      "left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)",
+      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)",
+      "left:push(cabinet,close),right:push(cabinet,close)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle)": [
+        "left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)"
+      ],
+      "left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)": [
+        "left:pull(cabinet,open),right:pull(cabinet,open)"
+      ],
+      "left:pull(cabinet,open),right:pull(cabinet,open)": [
+        "left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)"
+      ],
+      "left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)": [
+        "left:grasp(left_pot_handle),right:grasp(right_pot_handle)"
+      ],
+      "left:pick_up(pot),right:pick_up(pot)": [
+        "left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)"
+      ],
+      "left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)": [
+        "left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)"
+      ],
+      "left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)": [
+        "left:grasp(left_pot_handle),right:grasp(right_pot_handle)<1>"
+      ],
+      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)": [
+        "left:pick_up(pot),right:pick_up(pot)"
+      ],
+      "left:push(cabinet,close),right:push(cabinet,close)": [],
+      "left:grasp(left_pot_handle),right:grasp(right_pot_handle)<1>": [
+        "left:push(cabinet,close),right:push(cabinet,close)"
+      ]
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_aloha_mobile_cabinet_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_check_mark_episode_0",
+    "actions_list": [
+      "left:no_ops, right:move_to(none,pen)",
+      "left:no_ops, right:grasp(pen)",
+      "left:no_ops, right:pick_up(pen)",
+      "left:no_ops, right:draw(pen,check_mark,whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none,pen)": [
+        "left:no_ops, right:grasp(pen)"
+      ],
+      "left:no_ops, right:grasp(pen)": [
+        "left:no_ops, right:pick_up(pen)"
+      ],
+      "left:no_ops, right:pick_up(pen)": [
+        "left:no_ops, right:draw(pen,check_mark,whiteboard)"
+      ],
+      "left:no_ops, right:draw(pen,check_mark,whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_check_mark_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/droid_episode_121",
+    "actions_list": [
+      "move_to(none, gray_doll)",
+      "grasp(gray_doll)",
+      "pick_up(gray_doll)",
+      "place(gray_doll, middle_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, gray_doll)": [
+        "grasp(gray_doll)"
+      ],
+      "grasp(gray_doll)": [
+        "pick_up(gray_doll)"
+      ],
+      "pick_up(gray_doll)": [
+        "place(gray_doll, middle_of_table)"
+      ],
+      "place(gray_doll, middle_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_121.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/droid_episode_33111",
+    "actions_list": [
+      "move_to(none, letter_'a')",
+      "grasp(letter_'a')",
+      "pick_up(letter_'a')",
+      "turn(letter_'a',clockwise,middle_of_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, letter_'a')": [
+        "grasp(letter_'a')"
+      ],
+      "grasp(letter_'a')": [
+        "pick_up(letter_'a')"
+      ],
+      "pick_up(letter_'a')": [
+        "turn(letter_'a',clockwise,middle_of_table)"
+      ],
+      "turn(letter_'a',clockwise,middle_of_table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_33111.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/droid_episode_19660",
+    "actions_list": [
+      "move_to(none, bowl)",
+      "grasp(bowl)",
+      "pick_up(bowl)",
+      "place(bowl, right_table)"
+    ],
+    "gt_dag": {
+      "move_to(none, bowl)": [
+        "grasp(bowl)"
+      ],
+      "grasp(bowl)": [
+        "pick_up(bowl)"
+      ],
+      "pick_up(bowl)": [
+        "place(bowl, right_table)"
+      ],
+      "place(bowl, right_table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_19660.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/droid_episode_195",
+    "actions_list": [
+      "move_to(none, marker)",
+      "grasp(marker)",
+      "pick_up(marker)",
+      "place(marker, middle_of_bowl)"
+    ],
+    "gt_dag": {
+      "move_to(none, marker)": [
+        "grasp(marker)"
+      ],
+      "grasp(marker)": [
+        "pick_up(marker)"
+      ],
+      "pick_up(marker)": [
+        "place(marker, middle_of_bowl)"
+      ],
+      "place(marker, middle_of_bowl)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_195.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_7",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable,phone), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable,phone), right:hold(phone)"
+      ],
+      "left:insert(charging_cable,phone), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_11",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pcik_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pcik_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pcik_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_13",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_22",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable,phone), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable,phone), right:hold(phone)"
+      ],
+      "left:insert(charging_cable,phone), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_22.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_28",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone_charging_port), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone_charging_port), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_28.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_30",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:move_to(none, phone)",
+      "left:grasp(charging_cable), right:grasp(phone)",
+      "left:pick_up(charging_cable), right:pick_up(phone)",
+      "left:insert(charging_cable, phone), right:hold(phone)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:move_to(none, phone)": [
+        "left:grasp(charging_cable), right:grasp(phone)"
+      ],
+      "left:grasp(charging_cable), right:grasp(phone)": [
+        "left:pick_up(charging_cable), right:pick_up(phone)"
+      ],
+      "left:pick_up(charging_cable), right:pick_up(phone)": [
+        "left:insert(charging_cable, phone), right:hold(phone)"
+      ],
+      "left:insert(charging_cable, phone), right:hold(phone)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_30.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_flip_bottle_episode_6",
+    "actions_list": [
+      "right:move_to(none, bottle), left:no_ops",
+      "right:grasp(bottle), left:no_ops",
+      "right:pick_up(bottle), left:no_ops",
+      "right:turn(bottle,anticlockwise,inverted),left:no_ops",
+      "transfer(right,left,bottle)",
+      "left:place(bottle,table),right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, bottle), left:no_ops": [
+        "right:grasp(bottle), left:no_ops"
+      ],
+      "right:grasp(bottle), left:no_ops": [
+        "right:pick_up(bottle), left:no_ops"
+      ],
+      "right:pick_up(bottle), left:no_ops": [
+        "right:turn(bottle,anticlockwise,inverted),left:no_ops"
+      ],
+      "right:turn(bottle,anticlockwise,inverted),left:no_ops": [
+        "transfer(right,left,bottle)"
+      ],
+      "transfer(right,left,bottle)": [
+        "left:place(bottle,table),right:no_ops"
+      ],
+      "left:place(bottle,table),right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_flip_bottle_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_flip_bottle_episode_14",
+    "actions_list": [
+      "left: no_ops, right:move_to(none, bottle)",
+      "left: no_ops, right:grasp(bottle)",
+      "left: no_ops, right:pick_up(bottle)",
+      "left: no_ops, right:turn(bottle, clockwise, inverted)",
+      "left: no_ops, right:place(bottle, table)"
+    ],
+    "gt_dag": {
+      "left: no_ops, right:move_to(none, bottle)": [
+        "left: no_ops, right:grasp(bottle)"
+      ],
+      "left: no_ops, right:grasp(bottle)": [
+        "left: no_ops, right:pick_up(bottle)"
+      ],
+      "left: no_ops, right:pick_up(bottle)": [
+        "left: no_ops, right:turn(bottle, clockwise, inverted)"
+      ],
+      "left: no_ops, right:turn(bottle, clockwise, inverted)": [
+        "left: no_ops, right:place(bottle, table)"
+      ],
+      "left: no_ops, right:place(bottle, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_flip_bottle_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_0",
+    "actions_list": [
+      "left:move_to(none,brown_paper_ball), right:no_ops",
+      "left:grasp(brown_paper_ball), right:no_ops",
+      "left:pick_up(brown_paper_ball), right:no_ops",
+      "left:place(brown_paper_ball, trash_can), right:no_ops",
+      "left:move_to(none,white_paper_ball), right:no_ops",
+      "left:grasp(white_paper_ball), right:no_ops",
+      "left:pick_up(white_paper_ball), right:no_ops",
+      "left:place(white_paper_ball, trash_can), right:no_ops",
+      "left: no_ops, right:move_to(none,patterned_paper_ball)",
+      "left: no_ops, right:grasp(patterned_paper_ball)",
+      "left: no_ops, right:pick_up(patterned_paper_ball)",
+      "left: no_ops, right:place(patterned_paper_ball, trash_can)",
+      "left: no_ops, right:move_to(none,paper_ball)",
+      "left: no_ops, right:grasp(paper_ball)",
+      "left: no_ops, right:pick_up(paper_ball)",
+      "left: no_ops, right:place(paper_ball, trash_can)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,brown_paper_ball), right:no_ops": [
+        "left:grasp(brown_paper_ball), right:no_ops"
+      ],
+      "left:grasp(brown_paper_ball), right:no_ops": [
+        "left:pick_up(brown_paper_ball), right:no_ops"
+      ],
+      "left:pick_up(brown_paper_ball), right:no_ops": [
+        "left:place(brown_paper_ball, trash_can), right:no_ops"
+      ],
+      "left:place(brown_paper_ball, trash_can), right:no_ops": [],
+      "left:move_to(none,white_paper_ball), right:no_ops": [
+        "left:grasp(white_paper_ball), right:no_ops"
+      ],
+      "left:grasp(white_paper_ball), right:no_ops": [
+        "left:pick_up(white_paper_ball), right:no_ops"
+      ],
+      "left:pick_up(white_paper_ball), right:no_ops": [
+        "left:place(white_paper_ball, trash_can), right:no_ops"
+      ],
+      "left:place(white_paper_ball, trash_can), right:no_ops": [],
+      "left: no_ops, right:move_to(none,patterned_paper_ball)": [
+        "left: no_ops, right:grasp(patterned_paper_ball)"
+      ],
+      "left: no_ops, right:grasp(patterned_paper_ball)": [
+        "left: no_ops, right:pick_up(patterned_paper_ball)"
+      ],
+      "left: no_ops, right:pick_up(patterned_paper_ball)": [
+        "left: no_ops, right:place(patterned_paper_ball, trash_can)"
+      ],
+      "left: no_ops, right:place(patterned_paper_ball, trash_can)": [],
+      "left: no_ops, right:move_to(none,paper_ball)": [
+        "left: no_ops, right:grasp(paper_ball)"
+      ],
+      "left: no_ops, right:grasp(paper_ball)": [
+        "left: no_ops, right:pick_up(paper_ball)"
+      ],
+      "left: no_ops, right:pick_up(paper_ball)": [
+        "left: no_ops, right:place(paper_ball, trash_can)"
+      ],
+      "left: no_ops, right:place(paper_ball, trash_can)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_0.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_4",
+    "actions_list": [
+      "left:move_to(none, paper_ball), right:no_ops",
+      "left:grasp(paper_ball), right:no_ops",
+      "left:pick_up(paper_ball), right:no_ops",
+      "left:place(paper_ball, trash_can), right:no_ops",
+      "left:move_to(none, paper_ball), right:no_ops",
+      "left:grasp(paper_ball), right:no_ops",
+      "left:pick_up(paper_ball), right:no_ops",
+      "left:place(paper_ball, trash_can), right:no_ops",
+      "left:move_to(none, paper_ball), right:no_ops",
+      "left:grasp(paper_ball), right:no_ops",
+      "left:pick_up(paper_ball), right:no_ops",
+      "left:place(paper_ball, trash_can), right:no_ops",
+      "left:no_ops, right:move_to(none, paper_ball)",
+      "left:no_ops, right:grasp(paper_ball)",
+      "left:no_ops, right:pick_up(paper_ball)",
+      "left:no_ops, right:place(paper_ball, trash_can)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, paper_ball), right:no_ops": [
+        "left:grasp(paper_ball), right:no_ops"
+      ],
+      "left:grasp(paper_ball), right:no_ops": [
+        "left:pick_up(paper_ball), right:no_ops"
+      ],
+      "left:pick_up(paper_ball), right:no_ops": [
+        "left:place(paper_ball, trash_can), right:no_ops"
+      ],
+      "left:place(paper_ball, trash_can), right:no_ops": [],
+      "left:no_ops, right:move_to(none, paper_ball)": [
+        "left:no_ops, right:grasp(paper_ball)"
+      ],
+      "left:no_ops, right:grasp(paper_ball)": [
+        "left:no_ops, right:pick_up(paper_ball)"
+      ],
+      "left:no_ops, right:pick_up(paper_ball)": [
+        "left:no_ops, right:place(paper_ball, trash_can)"
+      ],
+      "left:no_ops, right:place(paper_ball, trash_can)": [],
+      "left:move_to(none, paper_ball), right:no_ops<1>": [
+        "left:grasp(paper_ball), right:no_ops<1>"
+      ],
+      "left:grasp(paper_ball), right:no_ops<1>": [
+        "left:pick_up(paper_ball), right:no_ops<1>"
+      ],
+      "left:pick_up(paper_ball), right:no_ops<1>": [
+        "left:place(paper_ball, trash_can), right:no_ops<1>"
+      ],
+      "left:place(paper_ball, trash_can), right:no_ops<1>": [],
+      "left:move_to(none, paper_ball), right:no_ops<2>": [
+        "left:grasp(paper_ball), right:no_ops<2>"
+      ],
+      "left:grasp(paper_ball), right:no_ops<2>": [
+        "left:pick_up(paper_ball), right:no_ops<2>"
+      ],
+      "left:pick_up(paper_ball), right:no_ops<2>": [
+        "left:place(paper_ball, trash_can), right:no_ops<2>"
+      ],
+      "left:place(paper_ball, trash_can), right:no_ops<2>": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_13",
+    "actions_list": [
+      "right:move_to(none, paper_ball), left:no_ops",
+      "right:grasp(paper_ball), left:no_ops",
+      "right:pick_up(paper_ball), left:no_ops",
+      "right:place(paper_ball, inside_trash_can), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, paper_ball), left:no_ops": [
+        "right:grasp(paper_ball), left:no_ops"
+      ],
+      "right:grasp(paper_ball), left:no_ops": [
+        "right:pick_up(paper_ball), left:no_ops"
+      ],
+      "right:pick_up(paper_ball), left:no_ops": [
+        "right:place(paper_ball, inside_trash_can), left:no_ops"
+      ],
+      "right:place(paper_ball, inside_trash_can), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_14",
+    "actions_list": [
+      "right:move_to(none, paper_ball), left:no_ops",
+      "right:grasp(paper_ball), left:no_ops",
+      "right:pick_up(paper_ball), left:no_ops",
+      "right:place(paper_ball, inside_trash_can), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, paper_ball), left:no_ops": [
+        "right:grasp(paper_ball), left:no_ops"
+      ],
+      "right:grasp(paper_ball), left:no_ops": [
+        "right:pick_up(paper_ball), left:no_ops"
+      ],
+      "right:pick_up(paper_ball), left:no_ops": [
+        "right:place(paper_ball, inside_trash_can), left:no_ops"
+      ],
+      "right:place(paper_ball, inside_trash_can), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_15",
+    "actions_list": [
+      "right:move_to(none, paper_ball), left:no_ops",
+      "right:grasp(paper_ball), left:no_ops",
+      "right:pick_up(paper_ball), left:no_ops",
+      "right:place(paper_ball, inside_trash_can), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, paper_ball), left:no_ops": [
+        "right:grasp(paper_ball), left:no_ops"
+      ],
+      "right:grasp(paper_ball), left:no_ops": [
+        "right:pick_up(paper_ball), left:no_ops"
+      ],
+      "right:pick_up(paper_ball), left:no_ops": [
+        "right:place(paper_ball, inside_trash_can), left:no_ops"
+      ],
+      "right:place(paper_ball, inside_trash_can), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_15.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_16",
+    "actions_list": [
+      "right:move_to(none, paper_ball), left:no_ops",
+      "right:grasp(paper_ball), left:no_ops",
+      "right:pick_up(paper_ball), left:no_ops",
+      "right:place(paper_ball, inside_trash_can), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, paper_ball), left:no_ops": [
+        "right:grasp(paper_ball), left:no_ops"
+      ],
+      "right:grasp(paper_ball), left:no_ops": [
+        "right:pick_up(paper_ball), left:no_ops"
+      ],
+      "right:pick_up(paper_ball), left:no_ops": [
+        "right:place(paper_ball, inside_trash_can), left:no_ops"
+      ],
+      "right:place(paper_ball, inside_trash_can), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_16.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_4",
+    "actions_list": [
+      "left:move_to(none, charger), right:move_to(none,data_cable)",
+      "left:grasp(charger), right:grasp(data_cable)",
+      "left:pick_up(charger), right:pick_up(data_cable)",
+      "left:hold(charger), right:insert(data_cable,charger)",
+      "left:place(charger,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charger), right:move_to(none,data_cable)": [
+        "left:grasp(charger), right:grasp(data_cable)"
+      ],
+      "left:grasp(charger), right:grasp(data_cable)": [
+        "left:pick_up(charger), right:pick_up(data_cable)"
+      ],
+      "left:pick_up(charger), right:pick_up(data_cable)": [
+        "left:hold(charger), right:insert(data_cable,charger)"
+      ],
+      "left:hold(charger), right:insert(data_cable,charger)": [
+        "left:place(charger,table), right:no_ops"
+      ],
+      "left:place(charger,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_5",
+    "actions_list": [
+      "left:move_to(none, charger), right:move_to(none,data_cable)",
+      "left:grasp(charger), right:grasp(data_cable)",
+      "left:pick_up(charger), right:pick_up(data_cable)",
+      "left:hold(charger), right:insert(data_cable,charger)",
+      "left:place(charger,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charger), right:move_to(none,data_cable)": [
+        "left:grasp(charger), right:grasp(data_cable)"
+      ],
+      "left:grasp(charger), right:grasp(data_cable)": [
+        "left:pick_up(charger), right:pick_up(data_cable)"
+      ],
+      "left:pick_up(charger), right:pick_up(data_cable)": [
+        "left:hold(charger), right:insert(data_cable,charger)"
+      ],
+      "left:hold(charger), right:insert(data_cable,charger)": [
+        "left:place(charger,table), right:no_ops"
+      ],
+      "left:place(charger,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_11",
+    "actions_list": [
+      "left:move_to(none, charger), right:move_to(none,data_cable)",
+      "left:grasp(charger), right:grasp(data_cable)",
+      "left:pick_up(charger), right:pick_up(data_cable)",
+      "left:hold(charger), right:insert(data_cable,charger)",
+      "left:place(charger,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charger), right:move_to(none,data_cable)": [
+        "left:grasp(charger), right:grasp(data_cable)"
+      ],
+      "left:grasp(charger), right:grasp(data_cable)": [
+        "left:pick_up(charger), right:pick_up(data_cable)"
+      ],
+      "left:pick_up(charger), right:pick_up(data_cable)": [
+        "left:hold(charger), right:insert(data_cable,charger)"
+      ],
+      "left:hold(charger), right:insert(data_cable,charger)": [
+        "left:place(charger,table), right:no_ops"
+      ],
+      "left:place(charger,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_14",
+    "actions_list": [
+      "left:move_to(none, charger), right:move_to(none,data_cable)",
+      "left:grasp(charger), right:grasp(data_cable)",
+      "left:pick_up(charger), right:pick_up(data_cable)",
+      "left:hold(charger), right:insert(data_cable,charger)",
+      "left:place(charger,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charger), right:move_to(none,data_cable)": [
+        "left:grasp(charger), right:grasp(data_cable)"
+      ],
+      "left:grasp(charger), right:grasp(data_cable)": [
+        "left:pick_up(charger), right:pick_up(data_cable)"
+      ],
+      "left:pick_up(charger), right:pick_up(data_cable)": [
+        "left:hold(charger), right:insert(data_cable,charger)"
+      ],
+      "left:hold(charger), right:insert(data_cable,charger)": [
+        "left:place(charger,table), right:no_ops"
+      ],
+      "left:place(charger,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_15",
+    "actions_list": [
+      "left:move_to(none, charger), right:move_to(none,data_cable)",
+      "left:grasp(charger), right:grasp(data_cable)",
+      "left:pick_up(charger), right:pick_up(data_cable)",
+      "left:hold(charger), right:insert(data_cable,charger)",
+      "left:place(charger,table), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charger), right:move_to(none,data_cable)": [
+        "left:grasp(charger), right:grasp(data_cable)"
+      ],
+      "left:grasp(charger), right:grasp(data_cable)": [
+        "left:pick_up(charger), right:pick_up(data_cable)"
+      ],
+      "left:pick_up(charger), right:pick_up(data_cable)": [
+        "left:hold(charger), right:insert(data_cable,charger)"
+      ],
+      "left:hold(charger), right:insert(data_cable,charger)": [
+        "left:place(charger,table), right:no_ops"
+      ],
+      "left:place(charger,table), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_15.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1",
+    "actions_list": [
+      "left:move_to(none, backpack), right:no_ops",
+      "left:grasp(backpack), right:no_ops",
+      "left:pick_up(backpack), right:no_ops",
+      "left:place(backpack, desk), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, backpack), right:no_ops": [
+        "left:grasp(backpack), right:no_ops"
+      ],
+      "left:grasp(backpack), right:no_ops": [
+        "left:pick_up(backpack), right:no_ops"
+      ],
+      "left:pick_up(backpack), right:no_ops": [
+        "left:place(backpack, desk), right:no_ops"
+      ],
+      "left:place(backpack, desk), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_orange_into_bag_episode_11",
+    "actions_list": [
+      "left:move_to(none, orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange,inside_bag), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, orange), right:no_ops": [
+        "left:grasp(orange), right:no_ops"
+      ],
+      "left:grasp(orange), right:no_ops": [
+        "left:pick_up(orange), right:no_ops"
+      ],
+      "left:pick_up(orange), right:no_ops": [
+        "left:place(orange,inside_bag), right:no_ops"
+      ],
+      "left:place(orange,inside_bag), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_pick_orange_into_bag_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_tape_into_bag_episode_18",
+    "actions_list": [
+      "right:move_to(none, tape), left:no_ops",
+      "right:grasp(tape), left:no_ops",
+      "right:pick_up(tape), left:no_ops",
+      "right:place(tape, inside_bag), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, tape), left:no_ops": [
+        "right:grasp(tape), left:no_ops"
+      ],
+      "right:grasp(tape), left:no_ops": [
+        "right:pick_up(tape), left:no_ops"
+      ],
+      "right:pick_up(tape), left:no_ops": [
+        "right:place(tape, inside_bag), left:no_ops"
+      ],
+      "right:place(tape, inside_bag), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_pick_tape_into_bag_episode_18.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_tomato_to_desk_episode_16",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, can)",
+      "left:no_ops, right:grasp(can)",
+      "left:no_ops, right:pick_up(can)",
+      "left:no_ops, right:place(can, right_side_of_the_table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, can)": [
+        "left:no_ops, right:grasp(can)"
+      ],
+      "left:no_ops, right:grasp(can)": [
+        "left:no_ops, right:pick_up(can)"
+      ],
+      "left:no_ops, right:pick_up(can)": [
+        "left:no_ops, right:place(can, right_side_of_the_table)"
+      ],
+      "left:no_ops, right:place(can, right_side_of_the_table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_pick_tomato_to_desk_episode_16.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_place_octopus_upright_episode_12",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, octopus_plushie)",
+      "left:no_ops, right:grasp(octopus_plushie)",
+      "left:no_ops, right:pick_up(octopus_plushie)",
+      "left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)",
+      "transfer(left, right, octopus_plushie)",
+      "right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)",
+      "right:no_ops, left:place(octopus_plushie,table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, octopus_plushie)": [
+        "left:no_ops, right:grasp(octopus_plushie)"
+      ],
+      "left:no_ops, right:grasp(octopus_plushie)": [
+        "left:no_ops, right:pick_up(octopus_plushie)"
+      ],
+      "left:no_ops, right:pick_up(octopus_plushie)": [
+        "left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)"
+      ],
+      "left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)": [
+        "transfer(left, right, octopus_plushie)"
+      ],
+      "transfer(left, right, octopus_plushie)": [
+        "right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)"
+      ],
+      "right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)": [
+        "right:no_ops, left:place(octopus_plushie,table)"
+      ],
+      "right:no_ops, left:place(octopus_plushie,table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_place_octopus_upright_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pull_chair_episode_8",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, chair)",
+      "left:no_ops, right:grasp(right_side_of_the_chair)",
+      "left:no_ops, right:pull(chair, behind)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, chair)": [
+        "left:no_ops, right:grasp(right_side_of_the_chair)"
+      ],
+      "left:no_ops, right:grasp(right_side_of_the_chair)": [
+        "left:no_ops, right:pull(chair, behind)"
+      ],
+      "left:no_ops, right:pull(chair, behind)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_pull_chair_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_9",
+    "actions_list": [
+      "left:move_to(none, gray_clothes), right:no_ops",
+      "left:grasp(gray_clothes), right:no_ops",
+      "left:pick_up(gray_clothes), right:no_ops",
+      "left:place(gray_clothes, backpack), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, gray_clothes), right:no_ops": [
+        "left:grasp(gray_clothes), right:no_ops"
+      ],
+      "left:grasp(gray_clothes), right:no_ops": [
+        "left:pick_up(gray_clothes), right:no_ops"
+      ],
+      "left:pick_up(gray_clothes), right:no_ops": [
+        "left:place(gray_clothes, backpack), right:no_ops"
+      ],
+      "left:place(gray_clothes, backpack), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_clothes_into_backpack_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_2",
+    "actions_list": [
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops",
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,orange), right:no_ops": [
+        "left:grasp(orange), right:no_ops"
+      ],
+      "left:grasp(orange), right:no_ops": [
+        "left:pick_up(orange), right:no_ops"
+      ],
+      "left:pick_up(orange), right:no_ops": [
+        "left:place(orange, bag), right:no_ops"
+      ],
+      "left:place(orange, bag), right:no_ops": [
+        "left:move_to(none,orange), right:no_ops<1>"
+      ],
+      "left:move_to(none,orange), right:no_ops<1>": [
+        "left:grasp(orange), right:no_ops<1>"
+      ],
+      "left:grasp(orange), right:no_ops<1>": [
+        "left:pick_up(orange), right:no_ops<1>"
+      ],
+      "left:pick_up(orange), right:no_ops<1>": [
+        "left:place(orange, bag), right:no_ops<1>"
+      ],
+      "left:place(orange, bag), right:no_ops<1>": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_6",
+    "actions_list": [
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops",
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,orange), right:no_ops": [
+        "left:grasp(orange), right:no_ops"
+      ],
+      "left:grasp(orange), right:no_ops": [
+        "left:pick_up(orange), right:no_ops"
+      ],
+      "left:pick_up(orange), right:no_ops": [
+        "left:place(orange, bag), right:no_ops"
+      ],
+      "left:place(orange, bag), right:no_ops": [
+        "left:move_to(none,orange), right:no_ops<1>"
+      ],
+      "left:move_to(none,orange), right:no_ops<1>": [
+        "left:grasp(orange), right:no_ops<1>"
+      ],
+      "left:grasp(orange), right:no_ops<1>": [
+        "left:pick_up(orange), right:no_ops<1>"
+      ],
+      "left:pick_up(orange), right:no_ops<1>": [
+        "left:place(orange, bag), right:no_ops<1>"
+      ],
+      "left:place(orange, bag), right:no_ops<1>": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_7",
+    "actions_list": [
+      "left:move_to(none, orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops",
+      "left:move_to(none, orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, orange), right:no_ops": [
+        "left:grasp(orange), right:no_ops"
+      ],
+      "left:grasp(orange), right:no_ops": [
+        "left:pick_up(orange), right:no_ops"
+      ],
+      "left:pick_up(orange), right:no_ops": [
+        "left:place(orange, bag), right:no_ops"
+      ],
+      "left:place(orange, bag), right:no_ops": [
+        "left:move_to(none, orange), right:no_ops<1>"
+      ],
+      "left:move_to(none, orange), right:no_ops<1>": [
+        "left:grasp(orange), right:no_ops<1>"
+      ],
+      "left:grasp(orange), right:no_ops<1>": [
+        "left:pick_up(orange), right:no_ops<1>"
+      ],
+      "left:pick_up(orange), right:no_ops<1>": [
+        "left:place(orange, bag), right:no_ops<1>"
+      ],
+      "left:place(orange, bag), right:no_ops<1>": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_8",
+    "actions_list": [
+      "right:move_to(none, first_orange), left:no_ops",
+      "right:grasp(first_orange), left:no_ops",
+      "right:pick_up(first_orange), left:no_ops",
+      "right:place(first_orange, bag), left:no_ops",
+      "right:move_to(none, second_orange), left:no_ops",
+      "right:grasp(second_orange), left:no_ops",
+      "right:pick_up(second_orange), left:no_ops",
+      "right:place(second_orange, bag), left:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, first_orange), left:no_ops": [
+        "right:grasp(first_orange), left:no_ops"
+      ],
+      "right:grasp(first_orange), left:no_ops": [
+        "right:pick_up(first_orange), left:no_ops"
+      ],
+      "right:pick_up(first_orange), left:no_ops": [
+        "right:place(first_orange, bag), left:no_ops"
+      ],
+      "right:place(first_orange, bag), left:no_ops": [
+        "right:move_to(none, second_orange), left:no_ops"
+      ],
+      "right:move_to(none, second_orange), left:no_ops": [
+        "right:grasp(second_orange), left:no_ops"
+      ],
+      "right:grasp(second_orange), left:no_ops": [
+        "right:pick_up(second_orange), left:no_ops"
+      ],
+      "right:pick_up(second_orange), left:no_ops": [
+        "right:place(second_orange, bag), left:no_ops"
+      ],
+      "right:place(second_orange, bag), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_10",
+    "actions_list": [
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops",
+      "left:move_to(none,orange), right:no_ops",
+      "left:grasp(orange), right:no_ops",
+      "left:pick_up(orange), right:no_ops",
+      "left:place(orange, bag), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none,orange), right:no_ops": [
+        "left:grasp(orange), right:no_ops"
+      ],
+      "left:grasp(orange), right:no_ops": [
+        "left:pick_up(orange), right:no_ops"
+      ],
+      "left:pick_up(orange), right:no_ops": [
+        "left:place(orange, bag), right:no_ops"
+      ],
+      "left:place(orange, bag), right:no_ops": [
+        "left:move_to(none,orange), right:no_ops<1>"
+      ],
+      "left:move_to(none,orange), right:no_ops<1>": [
+        "left:grasp(orange), right:no_ops<1>"
+      ],
+      "left:grasp(orange), right:no_ops<1>": [
+        "left:pick_up(orange), right:no_ops<1>"
+      ],
+      "left:pick_up(orange), right:no_ops<1>": [
+        "left:place(orange, bag), right:no_ops<1>"
+      ],
+      "left:place(orange, bag), right:no_ops<1>": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_2",
+    "actions_list": [
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:pick_up(sponge), right:no_ops",
+      "left:wipe(sponge, left_surface,table), right:no_ops",
+      "left:place(sponge,middle_table), right:no_ops",
+      "rgiht:move_to(none, sponge), right:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:pick_up(sponge), left:no_ops",
+      "right:wipe(sponge,right_surface,table), left:no_ops",
+      "right:place(sponge,middle_table), left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:pick_up(sponge), right:no_ops"
+      ],
+      "left:pick_up(sponge), right:no_ops": [
+        "left:wipe(sponge, left_surface,table), right:no_ops"
+      ],
+      "left:wipe(sponge, left_surface,table), right:no_ops": [
+        "left:place(sponge,middle_table), right:no_ops"
+      ],
+      "left:place(sponge,middle_table), right:no_ops": [
+        "rgiht:move_to(none, sponge), right:no_ops"
+      ],
+      "rgiht:move_to(none, sponge), right:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:pick_up(sponge), left:no_ops"
+      ],
+      "right:pick_up(sponge), left:no_ops": [
+        "right:wipe(sponge,right_surface,table), left:no_ops"
+      ],
+      "right:wipe(sponge,right_surface,table), left:no_ops": [
+        "right:place(sponge,middle_table), left:no_ops"
+      ],
+      "right:place(sponge,middle_table), left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_2.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_5",
+    "actions_list": [
+      "right:move_to(none, sponge), left:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:pick_up(sponge), left:no_ops",
+      "right:wipe(sponge,right_surface,table), left:no_ops",
+      "right:place(sponge,middle_of_table),left:no_ops",
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:pick_up(sponge), right:no_ops",
+      "left:wipe(sponge,left_surface,table), right:no_ops",
+      "left:place(sponge,middle_of_table),right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, sponge), left:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:pick_up(sponge), left:no_ops"
+      ],
+      "right:pick_up(sponge), left:no_ops": [
+        "right:wipe(sponge,right_surface,table), left:no_ops"
+      ],
+      "right:wipe(sponge,right_surface,table), left:no_ops": [
+        "right:place(sponge,middle_of_table),left:no_ops"
+      ],
+      "right:place(sponge,middle_of_table),left:no_ops": [
+        "left:move_to(none, sponge), right:no_ops"
+      ],
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:pick_up(sponge), right:no_ops"
+      ],
+      "left:pick_up(sponge), right:no_ops": [
+        "left:wipe(sponge,left_surface,table), right:no_ops"
+      ],
+      "left:wipe(sponge,left_surface,table), right:no_ops": [
+        "left:place(sponge,middle_of_table),right:no_ops"
+      ],
+      "left:place(sponge,middle_of_table),right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_9",
+    "actions_list": [
+      "right:move_to(none, sponge), left:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:pick_up(sponge), left:no_ops",
+      "right:wipe(sponge, right_surface,table), left:no_ops",
+      "right:place(sponge,middle_of_table),left:no_ops",
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:pick_up(sponge), right:no_ops",
+      "left:wipe(sponge,left_surface,table), right:no_ops",
+      "left:place(sponge,middle_of_table),right:no_ops"
+    ],
+    "gt_dag": {
+      "right:move_to(none, sponge), left:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:pick_up(sponge), left:no_ops"
+      ],
+      "right:pick_up(sponge), left:no_ops": [
+        "right:wipe(sponge, right_surface,table), left:no_ops"
+      ],
+      "right:wipe(sponge, right_surface,table), left:no_ops": [
+        "right:place(sponge,middle_of_table),left:no_ops"
+      ],
+      "right:place(sponge,middle_of_table),left:no_ops": [
+        "left:move_to(none, sponge), right:no_ops"
+      ],
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:pick_up(sponge), right:no_ops"
+      ],
+      "left:pick_up(sponge), right:no_ops": [
+        "left:wipe(sponge,left_surface,table), right:no_ops"
+      ],
+      "left:wipe(sponge,left_surface,table), right:no_ops": [
+        "left:place(sponge,middle_of_table),right:no_ops"
+      ],
+      "left:place(sponge,middle_of_table),right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_9.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_11",
+    "actions_list": [
+      "left:move_to(none, sponge), right:no_ops",
+      "left:grasp(sponge), right:no_ops",
+      "left:pick_up(sponge), right:no_ops",
+      "left:wipe(sponge,left_surface,table), right:no_ops",
+      "left:place(sponge,middle_of_table),right:no_ops",
+      "right:move_to(none, sponge), left:no_ops",
+      "right:grasp(sponge), left:no_ops",
+      "right:pick_up(sponge), left:no_ops",
+      "right:wipe(sponge,right_surface,table), left:no_ops",
+      "right:place(sponge,middle_of_table),left:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, sponge), right:no_ops": [
+        "left:grasp(sponge), right:no_ops"
+      ],
+      "left:grasp(sponge), right:no_ops": [
+        "left:pick_up(sponge), right:no_ops"
+      ],
+      "left:pick_up(sponge), right:no_ops": [
+        "left:wipe(sponge,left_surface,table), right:no_ops"
+      ],
+      "left:wipe(sponge,left_surface,table), right:no_ops": [
+        "left:place(sponge,middle_of_table),right:no_ops"
+      ],
+      "left:place(sponge,middle_of_table),right:no_ops": [
+        "right:move_to(none, sponge), left:no_ops"
+      ],
+      "right:move_to(none, sponge), left:no_ops": [
+        "right:grasp(sponge), left:no_ops"
+      ],
+      "right:grasp(sponge), left:no_ops": [
+        "right:pick_up(sponge), left:no_ops"
+      ],
+      "right:pick_up(sponge), left:no_ops": [
+        "right:wipe(sponge,right_surface,table), left:no_ops"
+      ],
+      "right:wipe(sponge,right_surface,table), left:no_ops": [
+        "right:place(sponge,middle_of_table),left:no_ops"
+      ],
+      "right:place(sponge,middle_of_table),left:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_11.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3",
+    "actions_list": [
+      "left:move_to(none, bag), right:move_to(none,glass_case)",
+      "left:grasp(bag_handle), right:grasp(glass_case)",
+      "left:pick_up(bag), right:pick_up(glass_case)",
+      "left:no_ops, right:move_to(glasses_case,table)",
+      "left:place(bag,table), right:place(glasses_case, table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, bag), right:move_to(none,glass_case)": [
+        "left:grasp(bag_handle), right:grasp(glass_case)"
+      ],
+      "left:grasp(bag_handle), right:grasp(glass_case)": [
+        "left:pick_up(bag), right:pick_up(glass_case)"
+      ],
+      "left:pick_up(bag), right:pick_up(glass_case)": [
+        "left:no_ops, right:move_to(glasses_case,table)"
+      ],
+      "left:no_ops, right:move_to(glasses_case,table)": [
+        "left:place(bag,table), right:place(glasses_case, table)"
+      ],
+      "left:place(bag,table), right:place(glasses_case, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6",
+    "actions_list": [
+      "left:move_to(none, bag), right:move_to(none,glass_case)",
+      "left:grasp(bag_handle), right:grasp(glass_case)",
+      "left:pick_up(bag), right:pick_up(glass_case)",
+      "left:no_ops, right:move_to(glasses_case,table)",
+      "left:place(bag,table), right:place(glasses_case, table)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, bag), right:move_to(none,glass_case)": [
+        "left:grasp(bag_handle), right:grasp(glass_case)"
+      ],
+      "left:grasp(bag_handle), right:grasp(glass_case)": [
+        "left:pick_up(bag), right:pick_up(glass_case)"
+      ],
+      "left:pick_up(bag), right:pick_up(glass_case)": [
+        "left:no_ops, right:move_to(glasses_case,table)"
+      ],
+      "left:no_ops, right:move_to(glasses_case,table)": [
+        "left:place(bag,table), right:place(glasses_case, table)"
+      ],
+      "left:place(bag,table), right:place(glasses_case, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_4",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, pen_body)",
+      "left:move_to(none, pen_cap), right:grasp(pen_body)",
+      "left:grasp(pen_cap), right:pick_up(pen_body)",
+      "left:pullout(pen_cap,pen) right:hold(pen_body)",
+      "left:place(pen_cap,table), right:place(pen_body, table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, pen_body)": [
+        "left:move_to(none, pen_cap), right:grasp(pen_body)"
+      ],
+      "left:move_to(none, pen_cap), right:grasp(pen_body)": [
+        "left:grasp(pen_cap), right:pick_up(pen_body)"
+      ],
+      "left:grasp(pen_cap), right:pick_up(pen_body)": [
+        "left:pullout(pen_cap,pen) right:hold(pen_body)"
+      ],
+      "left:pullout(pen_cap,pen) right:hold(pen_body)": [
+        "left:place(pen_cap,table), right:place(pen_body, table)"
+      ],
+      "left:place(pen_cap,table), right:place(pen_body, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_10",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, pen_body)",
+      "left:move_to(none, pen_cap), right:grasp(pen_body)",
+      "left:grasp(pen_cap), right:pick_up(pen_body)",
+      "left:pullout(pen_cap,pen) right:hold(pen_body)",
+      "left:place(pen_cap,table), right:place(pen_body, table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, pen_body)": [
+        "left:move_to(none, pen_cap), right:grasp(pen_body)"
+      ],
+      "left:move_to(none, pen_cap), right:grasp(pen_body)": [
+        "left:grasp(pen_cap), right:pick_up(pen_body)"
+      ],
+      "left:grasp(pen_cap), right:pick_up(pen_body)": [
+        "left:pullout(pen_cap,pen) right:hold(pen_body)"
+      ],
+      "left:pullout(pen_cap,pen) right:hold(pen_body)": [
+        "left:place(pen_cap,table), right:place(pen_body, table)"
+      ],
+      "left:place(pen_cap,table), right:place(pen_body, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_13",
+    "actions_list": [
+      "left:no_ops, right:move_to(none, pen_body)",
+      "left:move_to(none, pen_cap), right:grasp(pen_body)",
+      "left:grasp(pen_cap), right:pick_up(pen_body)",
+      "left:pullout(pen_cap,pen) right:hold(pen_body)",
+      "left:place(pen_cap,table), right:place(pen_body, table)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none, pen_body)": [
+        "left:move_to(none, pen_cap), right:grasp(pen_body)"
+      ],
+      "left:move_to(none, pen_cap), right:grasp(pen_body)": [
+        "left:grasp(pen_cap), right:pick_up(pen_body)"
+      ],
+      "left:grasp(pen_cap), right:pick_up(pen_body)": [
+        "left:pullout(pen_cap,pen) right:hold(pen_body)"
+      ],
+      "left:pullout(pen_cap,pen) right:hold(pen_body)": [
+        "left:place(pen_cap,table), right:place(pen_body, table)"
+      ],
+      "left:place(pen_cap,table), right:place(pen_body, table)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_13.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_turn_off_light_episode_5",
+    "actions_list": [
+      "left:move_to(none, light_switch), right:no_ops",
+      "left:grasp(switch), right:no_ops",
+      "left:press(switch), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, light_switch), right:no_ops": [
+        "left:grasp(switch), right:no_ops"
+      ],
+      "left:grasp(switch), right:no_ops": [
+        "left:press(switch), right:no_ops"
+      ],
+      "left:press(switch), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_turn_off_light_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_turn_off_light_episode_7",
+    "actions_list": [
+      "left:move_to(none, switch), right:no_ops",
+      "left:grasp(switch), right:no_ops",
+      "left:press(switch), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, switch), right:no_ops": [
+        "left:grasp(switch), right:no_ops"
+      ],
+      "left:grasp(switch), right:no_ops": [
+        "left:press(switch), right:no_ops"
+      ],
+      "left:press(switch), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_turn_off_light_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_turn_off_light_episode_8",
+    "actions_list": [
+      "left:move_to(none, switch), right:no_ops",
+      "left:grasp(switch), right:no_ops",
+      "left:press(switch), right:no_ops"
+    ],
+    "gt_dag": {
+      "left:move_to(none, switch), right:no_ops": [
+        "left:grasp(switch), right:no_ops"
+      ],
+      "left:grasp(switch), right:no_ops": [
+        "left:press(switch), right:no_ops"
+      ],
+      "left:press(switch), right:no_ops": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_turn_off_light_episode_8.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_unwind_charging_cable_episode_10",
+    "actions_list": [
+      "left:move_to(none, charging_cable), right:no_ops",
+      "left:grasp(charging_cable), right:no_ops",
+      "left:pick_up(charging_cable), right:no_ops",
+      "left:no_ops, right:grasp(other_ end_charging)",
+      "left:pull(charging,straight), right:pull(charging,straight)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, charging_cable), right:no_ops": [
+        "left:grasp(charging_cable), right:no_ops"
+      ],
+      "left:grasp(charging_cable), right:no_ops": [
+        "left:pick_up(charging_cable), right:no_ops"
+      ],
+      "left:pick_up(charging_cable), right:no_ops": [
+        "left:no_ops, right:grasp(other_ end_charging)"
+      ],
+      "left:no_ops, right:grasp(other_ end_charging)": [
+        "left:pull(charging,straight), right:pull(charging,straight)"
+      ],
+      "left:pull(charging,straight), right:pull(charging,straight)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_unwind_charging_cable_episode_10.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_unzip_the_bag_episode_7",
+    "actions_list": [
+      "left:no_ops,right:move_to(none, bag)",
+      "right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)",
+      "right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)",
+      "right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)"
+    ],
+    "gt_dag": {
+      "left:no_ops,right:move_to(none, bag)": [
+        "right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)"
+      ],
+      "right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)": [
+        "right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)"
+      ],
+      "right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)": [
+        "right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)"
+      ],
+      "right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_unzip_the_bag_episode_7.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_wash_cup_1_episode_5",
+    "actions_list": [
+      "left:move_to(none, faucet), right:move_to(none, mug)",
+      "left:grasp(faucet), right:grasp(mug)",
+      "left:no_ops, right:pick_up(mug)",
+      "left:turn_on(faucet), right:place(mug,faucet)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, faucet), right:move_to(none, mug)": [
+        "left:grasp(faucet), right:grasp(mug)"
+      ],
+      "left:grasp(faucet), right:grasp(mug)": [
+        "left:no_ops, right:pick_up(mug)"
+      ],
+      "left:no_ops, right:pick_up(mug)": [
+        "left:turn_on(faucet), right:place(mug,faucet)"
+      ],
+      "left:turn_on(faucet), right:place(mug,faucet)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_wash_cup_1_episode_5.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_wash_cup_3_episode_4",
+    "actions_list": [
+      "left:move_to(none,faucet), right:move_to(none, mug)",
+      "left:no_ops, right:grasp(mug)",
+      "left:no_ops right:pick_up(mug)",
+      "left:turn_on(faucet),right:place(mug,faucet)"
+    ],
+    "gt_dag": {
+      "left:move_to(none,faucet), right:move_to(none, mug)": [
+        "left:no_ops, right:grasp(mug)"
+      ],
+      "left:no_ops, right:grasp(mug)": [
+        "left:no_ops right:pick_up(mug)"
+      ],
+      "left:no_ops right:pick_up(mug)": [
+        "left:turn_on(faucet),right:place(mug,faucet)"
+      ],
+      "left:turn_on(faucet),right:place(mug,faucet)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_wash_cup_3_episode_4.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_wash_water_episode_12",
+    "actions_list": [
+      "left:move_to(none, faucet), right:move_to(none, mug)",
+      "left:grasp(faucet), right:grasp(mug)",
+      "left:no_ops, right:pick_up(mug)",
+      "left:turn_on(faucet), right:place(mug,faucet)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, faucet), right:move_to(none, mug)": [
+        "left:grasp(faucet), right:grasp(mug)"
+      ],
+      "left:grasp(faucet), right:grasp(mug)": [
+        "left:no_ops, right:pick_up(mug)"
+      ],
+      "left:no_ops, right:pick_up(mug)": [
+        "left:turn_on(faucet), right:place(mug,faucet)"
+      ],
+      "left:turn_on(faucet), right:place(mug,faucet)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_wash_water_episode_12.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_3",
+    "actions_list": [
+      "left:no_ops, right:move_to(none,marker)",
+      "left:no_ops, right:grasp(marker)",
+      "left:no_ops, right:pick_up(marker)",
+      "right:draw(marker,'H', whiteboard)",
+      "right:draw(marker,'i', whiteboard)",
+      "right:draw(marker,'!', whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none,marker)": [
+        "left:no_ops, right:grasp(marker)"
+      ],
+      "left:no_ops, right:grasp(marker)": [
+        "left:no_ops, right:pick_up(marker)"
+      ],
+      "left:no_ops, right:pick_up(marker)": [
+        "right:draw(marker,'H', whiteboard)"
+      ],
+      "right:draw(marker,'H', whiteboard)": [
+        "right:draw(marker,'i', whiteboard)"
+      ],
+      "right:draw(marker,'i', whiteboard)": [
+        "right:draw(marker,'!', whiteboard)"
+      ],
+      "right:draw(marker,'!', whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_write_hi_whiteboard_episode_3.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_14",
+    "actions_list": [
+      "left:no_ops, right:move_to(none,marker)",
+      "left:no_ops, right:grasp(marker)",
+      "left:no_ops, right:pick_up(marker)",
+      "left:no_ops, right:draw(marker'H', whiteboard)",
+      "left:no_ops:, right:draw(marker,'i', whiteboard)",
+      "left:no_ops:, right:draw(marker,'!', whiteboard)"
+    ],
+    "gt_dag": {
+      "left:no_ops, right:move_to(none,marker)": [
+        "left:no_ops, right:grasp(marker)"
+      ],
+      "left:no_ops, right:grasp(marker)": [
+        "left:no_ops, right:pick_up(marker)"
+      ],
+      "left:no_ops, right:pick_up(marker)": [
+        "left:no_ops, right:draw(marker'H', whiteboard)"
+      ],
+      "left:no_ops, right:draw(marker'H', whiteboard)": [
+        "left:no_ops:, right:draw(marker,'i', whiteboard)"
+      ],
+      "left:no_ops:, right:draw(marker,'i', whiteboard)": [
+        "left:no_ops:, right:draw(marker,'!', whiteboard)"
+      ],
+      "left:no_ops:, right:draw(marker,'!', whiteboard)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_write_hi_whiteboard_episode_14.png"
+  },
+  {
+    "id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_zip_the_bag_episode_7",
+    "actions_list": [
+      "left:move_to(none, plastic_file_bag), right:no_ops",
+      "left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)",
+      "left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)",
+      "left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)"
+    ],
+    "gt_dag": {
+      "left:move_to(none, plastic_file_bag), right:no_ops": [
+        "left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)"
+      ],
+      "left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)": [
+        "left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)"
+      ],
+      "left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)": [
+        "left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)"
+      ],
+      "left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)": []
+    },
+    "v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_zip_the_bag_episode_7.png"
+  }
+]
\ No newline at end of file
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@@ -0,0 +1,3 @@
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+size 281143
diff --git a/3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_ABCD_episode_2/frame_00.png b/3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_ABCD_episode_2/frame_00.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 276665
diff --git a/3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_DEEP_episode_2/frame_00.png b/3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_DEEP_episode_2/frame_00.png
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@@ -0,0 +1,3 @@
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+size 206595
diff --git a/3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_LEARNING_episode_0/frame_00.png b/3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_LEARNING_episode_0/frame_00.png
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--- /dev/null
+++ b/3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_LEARNING_episode_0/frame_00.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 286742
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+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
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+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Arranging blocks to spell \"2024\"> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "0-left:move_to(none, '0'_block), right:no_ops, 1-left:grasp('0'_block), right:no_ops, 2-left:pick_up('0'_block), right:no_ops, 3-left:place('0'_block,left_of_table) right:no_ops, 4-left:move_to(none,'2'_block), right:no_ops, 5-left:grasp('2'_block), right:no_ops, 6-left:pick_up('2'_block),right:no_ops, 7-left:place('2'_block, left_of_'0'_block), right:no_ops, 8-left:no_ops,right:move_to(none,'2'_block), 9-left:no_ops,right:grasp('2'_block), 10-left:no_ops,right:pick_up('2'_block), 11-left:no_ops right:place('2'_block,right_of_'0'_block)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_LEARNING_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Spelling the word \"LEARNING\" with letter blocks.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "0-left:move_to(none,'r'_block), right:no_ops, 1-left:grasp('r'_block), right:no_ops, 2-left:pick_up('r'_block), right:no_ops, 3-left:place('r'_block,left_of_'n'_block), right:no_ops, 4-left:move_to(none,'e'_block), right:no_ops, 5-left:grasp('e'_block), right:no_ops, 6-left:pick_up('e'_block), right:no_ops, 7-left:place('e'_block,right_of_'l'_block), right:no_ops, 8-left:move_to(none,'a'_block), right:no_ops, 9-left:grasp('a'_block), right:no_ops, 10-left: pick_up('a'_block), right:no_ops, 11-left:place('a'_block,right_of_'e'_block), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_spell_car_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Spelling the word \"car\" with letter magnets.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 12 steps.",
+    "gt_answer": "0-left:move_to(none, letter_'c'), right:no_ops, 1-left:grasp(letter_'c'), right:no_ops, 2-left:pick_up(letter_'c'), right:no_ops, 3-left:place(letter_'c',left_of_table), right:no_ops, 4-left:no_ops, right:move_to(none,letter_'a'), 5-left:no_ops, right:grasp(letter_'a'), 6-left:no_ops, right:pick_up(letter_'a'), 7-left:no_ops, right:place(letter_'a',right_of_'c'), 8-left:no_ops, right:move_to(none, letter_'r'), 9-left:no_ops, right:grasp(letter_'r'), 10-left:no_ops, right:pick_up(letter_'r'), 11-left:no_ops, right:place(letter_'r',right_of_'a')",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_line_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Drawing a straight line.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,a_straight_line,whiteboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_spell_cool_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Spelling the word \"cool\" with letter magnets.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, letter_'c'), 1-left:no_ops, right:grasp(letter_'c'), 2-left:no_ops, right:pick_up(letter_'c'), 3-left:no_ops, right:place(letter_'c',left_of_table), 4-left:no_ops, right:move_to(none, letter_'o'), 5-left:no_ops, right:grasp(letter_'o'), 6-left:no_ops, right:pick_up(letter_'o'), 7-left:no_ops, right:place(letter_'o',right_of_'c'), 8-left:no_ops, right:move_to(none, letter_'o'), 9-left:no_ops, right:grasp(letter_'o'), 10-left:no_ops, right:pick_up(letter_'o'), 11-left:no_ops, right:place(letter_'c',right_of_'c'), 12-left:no_ops, right:move_to(none, letter_'l'), 13-left:no_ops, right:grasp(letter_'l'), 14-left:no_ops, right:pick_up(letter_'l'), 15-left:no_ops, right:place(letter_'l',right_of_'c')",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_cross_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Drawing a cross mark.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none,pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,cross,whiteboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_spell_love_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Arranging letter magnets to spell the word \"love\".> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.",
+    "gt_answer": "0-left:move_to(none, letter_'l'), right:no_ops, 1-left:grasp(letter_'l'), right:no_ops, 2-left:pick_up(letter_'l'), right:no_ops, 3-left:place(letter_'l',left_of_table), right:no_ops, 4-left:no_ops, right:move_to(none, letter_'o'), 5-left:no_ops, right:grasp(letter_'o'), 6-left:no_ops, right:pick_up(letter_'o'), 7-left:no_ops, right:place(letter_'o', right_of_'l'), 8-left:no_ops, right:move_to(none, letter_'v'), 9-left:no_ops, right:grasp(letter_'v'), 10-left:no_ops, right:pick_up(letter_'v'), 11-left:no_ops, right:place(letter_'l', right_of_'v'), 12-left:no_ops, right:move_to(none, letter_'e'), 13-left:no_ops, right:grasp(letter_'e'), 14-left:no_ops, right:pick_up(letter_'e'), 15-left:no_ops, right:place(letter_'e', right_of_'v')",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_char_A_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Writing the letter 'A' on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(pen, whiteboard), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,letter_'A',whiteboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_char_Z_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Writing the letter Z on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none,pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,letter_'Z',whiteboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_rectangle_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Drawing a rectangle on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none,pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,rectangle,whiteboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <inserting a green object into a designated slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, green_block), 1-left:no_ops, right:grasp(green_block), 2-left:no_ops, right:pick_up(green_block), 3-left:no_ops, right:insert(green_block, slot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <inserting a cylinder into a matching hole> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, pink_cylinder_block), 1-left:no_ops, right:grasp(pink_cylinder_block), 2-left:no_ops, right:pick_up(pink_cylinder_block), 3-left:no_ops, right:place(pink_cylinder_block,bracket), 4-left:no_ops, right:grasp(pink_cylinder_block), 5-left:no_ops, right:pick_up(pink_cylinder_block), 6-left:no_ops, right:insert(pink_cylinder_block,slot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <inserting a purple object into a designated slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, purple_block), 1-left:no_ops, right:grasp(purple_block), 2-left:no_ops, right:pick_up(purple_block), 3-left:no_ops, right:move_to(purple_object, blue_slotted_platform), 4-left:no_ops, right:place(purple_block, bracket), 5-left:no_ops, right:grasp(purple_block), 6-left:no_ops, right:pick_up(purple_block), 7-left:no_ops, right:insert(purple_block,slot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <inserting an oval object into its matching slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "0-left:move_to(none,blue_cylinder_block), right:no_ops, 1-left:grasp(blue_cylinder_block), right:no_ops, 2-left:pick_up(blue_cylinder_block), right:no_ops, 3-left:place(blue_cylinder_block,bracket), right:no_ops, 4-left:grasp(blue_cylinder_block), right:no_ops, 5-left:pick_up(blue_cylinder_block), right:no_ops, 6-left:insert(blue_cylinder_block,slot), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <inserting an arch-shaped object into its matching slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-move_to(none, arch_shaped_object), 1-grasp(arch_shaped_object), 2-pick_up(arch_shaped_object), 3-move_to(arch_shaped_object, matching_slot), 4-insert(arch_shaped_object, slot)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <inserting a cylinder into a designated slot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "0-left:move_to(none, blue_cylinder_block), right:no_ops, 1-left:grasp(blue_cylinder_block), right:no_ops, 2-left:pick_up(blue_cylinder_block), right:no_ops, 3-left:place(blue_cylinder_block,bracket), right:no_ops, 4-left:grasp(blue_cylinder_block), right:no_ops, 5-left:pick_up(blue_cylinder_block), right:no_ops, 6-left:insert(blue_cylinder_block,slot), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_DEEP_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Spelling the word \"DEEP\" using letter blocks.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.",
+    "gt_answer": "0-left:move_to(none, 'e'_block), right:no_ops, 1-left:grasp('e'_block), right:no_ops, 2-left:pick_up:('e'_block),right:no_ops, 3-left:place('e'_block,table), right:no_ops, 4-left:move_to(none,'e'_block), right:no_ops, 5-left:grasp( 'e'_block), right:no_ops, 6-left:pick_up('e'_block), right:no_ops, 7-left:place('e'_block,right_of_'e'_block), right:no_ops, 8-left:move_to(none, 'd'_block), right:no_ops, 9-left:grasp('d'_block), right:no_ops, 10-left:pick_up('d'_block), right:no_ops, 11-left:place('d'_block,right_'e'_block), right:no_ops, 12-left:no_ops, right:move_to(none,'p'_block), 13-left:no_ops, right:grasp('p'_block), 14-left:no_ops, right:pick_up('p'_block), 15-left:no_ops, right:place('p'_block,right_'e'_block)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_flip_calendar_page_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Turning a page of a desk calendar.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, calendar), 1-left:no_ops, right:grasp(top_of_the_current_calendar_page), 2-left:no_ops, right:pick_up(top_of_the_current_calendar_page), 3-left:no_ops, right:turn(page_of_the_calendar,up,backside )",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/droid_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <sliding a lid to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "0-move_to(none, lid), 1-grasp(lid), 2-move_to(lid, right)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/droid_episode_29_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Pour the contents of the orange bowl into the green bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, orange_bowl), 1-grasp(orane_bowl), 2-pick_up(orange_bowl), 3-pour(orange_bowl,rice ,green_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/droid_episode_30_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a plush toy from a pot to a sink> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, pot), 1-grasp(plush_toy), 2-pick_up(plush_toy), 3-place(plush_toy, sink)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_flowering_fake_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Watering a plant.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, kettle), 1-left:no_ops, right:grasp(kettle), 2-left:no_ops, right:pick_up(kettle), 3-left:no_ops, right:pour(kettle,water,plant)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_plug_charger_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charger into a socket.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-right:move_to(none, charger),left:no_ops, 1-right:grasp(charger),left:no_ops, 2-right:pick_up(charger),left:no_ops, 3-transfer(right, left, charger), 4-left:insert(charger, socket), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_pull_trash_can_episode_17_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Removing a garbage bag from a trash can and placing it on a table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, trash_can), right:no_ops, 1-left:grasp(trash_can_cover), right:move_to(none, trash_can), 2-left:pick_up(trash_can_cover), right:grasp(garbage_bag), 3-right:no_ops, left:pick_up(garbage_bag), 4-left:no_ops, right:place(garbage_bag,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/aloha_mobile_cabinet_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <storing a pot inside a cabinet> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "0-left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle), 1-left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle), 2-left:pull(cabinet,open),right:pull(cabinet,open), 3-left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle), 4-left:grasp(left_pot_handle),right:grasp(right_pot_handle), 5-left:pick_up(pot),right:pick_up(pot), 6-left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet), 7-left:place(pot,inside_cabinet),right:place(pot,inside_cabinet), 8-left:grasp(left_pot_handle),right:grasp(right_pot_handle), 9-left:push(cabinet,close),right:push(cabinet,close)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_check_mark_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Drawing a check mark.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none,pen), 1-left:no_ops, right:grasp(pen), 2-left:no_ops, right:pick_up(pen), 3-left:no_ops, right:draw(pen,check_mark,whiteboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/droid_episode_121_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a gray doll to the left side of a table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, gray_doll), 1-grasp(gray_doll), 2-pick_up(gray_doll), 3-place(gray_doll, middle_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/droid_episode_33111_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <Rotate the letter A to the right one> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, letter_'a'), 1-grasp(letter_'a'), 2-pick_up(letter_'a'), 3-turn(letter_'a',clockwise,middle_of_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/droid_episode_19660_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <moving a bowl to the right> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, bowl), 1-grasp(bowl), 2-pick_up(bowl), 3-place(bowl, right_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/droid_episode_195_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "single-arm",
+    "question": "With <placing a marker in a bowl> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-move_to(none, marker), 1-grasp(marker), 2-pick_up(marker), 3-place(marker, middle_of_bowl)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable,phone), right:hold(phone)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pcik_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone), right:hold(phone)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone), right:hold(phone)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_22_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable,phone), right:hold(phone)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_28_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone_charging_port), right:hold(phone)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_30_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a charging cable into a phone.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:move_to(none, phone), 1-left:grasp(charging_cable), right:grasp(phone), 2-left:pick_up(charging_cable), right:pick_up(phone), 3-left:insert(charging_cable, phone), right:hold(phone)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_flip_bottle_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Inverting a plastic bottle.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "0-right:move_to(none, bottle), left:no_ops, 1-right:grasp(bottle), left:no_ops, 2-right:pick_up(bottle), left:no_ops, 3-right:turn(bottle,anticlockwise,inverted),left:no_ops, 4-transfer(right,left,bottle), 5-left:place(bottle,table),right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_flip_bottle_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Flipping a bottle upside down.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left: no_ops, right:move_to(none, bottle), 1-left: no_ops, right:grasp(bottle), 2-left: no_ops, right:pick_up(bottle), 3-left: no_ops, right:turn(bottle, clockwise, inverted), 4-left: no_ops, right:place(bottle, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_0_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Throwing paper balls into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 20 steps.",
+    "gt_answer": "0-left:move_to(none,brown_paper_ball), right:no_ops, 1-left:grasp(brown_paper_ball), right:no_ops, 2-left:pick_up(brown_paper_ball), right:no_ops, 3-left:place(brown_paper_ball, trash_can), right:no_ops, 4-left:move_to(none,white_paper_ball), right:no_ops, 5-left:grasp(white_paper_ball), right:no_ops, 6-left:pick_up(white_paper_ball), right:no_ops, 7-left:place(white_paper_ball, trash_can), right:no_ops, 8-left: no_ops, right:move_to(none,patterned_paper_ball), 9-left: no_ops, right:grasp(patterned_paper_ball), 10-left: no_ops, right:pick_up(patterned_paper_ball), 11-left: no_ops, right:place(patterned_paper_ball, trash_can), 12-left: no_ops, right:move_to(none,paper_ball), 13-left: no_ops, right:grasp(paper_ball), 14-left: no_ops, right:pick_up(paper_ball), 15-left: no_ops, right:place(paper_ball, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Throwing paper balls into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 16 steps.",
+    "gt_answer": "0-left:move_to(none, paper_ball), right:no_ops, 1-left:grasp(paper_ball), right:no_ops, 2-left:pick_up(paper_ball), right:no_ops, 3-left:place(paper_ball, trash_can), right:no_ops, 4-left:move_to(none, paper_ball), right:no_ops, 5-left:grasp(paper_ball), right:no_ops, 6-left:pick_up(paper_ball), right:no_ops, 7-left:place(paper_ball, trash_can), right:no_ops, 8-left:move_to(none, paper_ball), right:no_ops, 9-left:grasp(paper_ball), right:no_ops, 10-left:pick_up(paper_ball), right:no_ops, 11-left:place(paper_ball, trash_can), right:no_ops, 12-left:no_ops, right:move_to(none, paper_ball), 13-left:no_ops, right:grasp(paper_ball), 14-left:no_ops, right:pick_up(paper_ball), 15-left:no_ops, right:place(paper_ball, trash_can)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Throwing rubbish into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-right:move_to(none, paper_ball), left:no_ops, 1-right:grasp(paper_ball), left:no_ops, 2-right:pick_up(paper_ball), left:no_ops, 3-right:place(paper_ball, inside_trash_can), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Throwing rubbish into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-right:move_to(none, paper_ball), left:no_ops, 1-right:grasp(paper_ball), left:no_ops, 2-right:pick_up(paper_ball), left:no_ops, 3-right:place(paper_ball, inside_trash_can), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_15_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Throwing rubbish into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-right:move_to(none, paper_ball), left:no_ops, 1-right:grasp(paper_ball), left:no_ops, 2-right:pick_up(paper_ball), left:no_ops, 3-right:place(paper_ball, inside_trash_can), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_16_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Throwing rubbish into a trash can.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-right:move_to(none, paper_ball), left:no_ops, 1-right:grasp(paper_ball), left:no_ops, 2-right:pick_up(paper_ball), left:no_ops, 3-right:place(paper_ball, inside_trash_can), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a USB-C cable into a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Connecting a USB-C cable to a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a Type-C cable into a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a USB-C cable into a charging brick.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_15_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Plugging a cable into a charging base.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charger), right:move_to(none,data_cable), 1-left:grasp(charger), right:grasp(data_cable), 2-left:pick_up(charger), right:pick_up(data_cable), 3-left:hold(charger), right:insert(data_cable,charger), 4-left:place(charger,table), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Moving a backpack from a chair to a desk.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, backpack), right:no_ops, 1-left:grasp(backpack), right:no_ops, 2-left:pick_up(backpack), right:no_ops, 3-left:place(backpack, desk), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_orange_into_bag_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Pick up an orange.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange,inside_bag), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_tape_into_bag_episode_18_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Placing tape into a bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-right:move_to(none, tape), left:no_ops, 1-right:grasp(tape), left:no_ops, 2-right:pick_up(tape), left:no_ops, 3-right:place(tape, inside_bag), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_tomato_to_desk_episode_16_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Picking up a can and placing it on the table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, can), 1-left:no_ops, right:grasp(can), 2-left:no_ops, right:pick_up(can), 3-left:no_ops, right:place(can, right_side_of_the_table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_place_octopus_upright_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Righting an octopus plushie.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 7 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, octopus_plushie), 1-left:no_ops, right:grasp(octopus_plushie), 2-left:no_ops, right:pick_up(octopus_plushie), 3-left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,), 4-transfer(left, right, octopus_plushie), 5-right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table), 6-right:no_ops, left:place(octopus_plushie,table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pull_chair_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Pulling a chair from under a desk.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, chair), 1-left:no_ops, right:grasp(right_side_of_the_chair), 2-left:no_ops, right:pull(chair, behind)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Packing clothes into a backpack.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, gray_clothes), right:no_ops, 1-left:grasp(gray_clothes), right:no_ops, 2-left:pick_up(gray_clothes), right:no_ops, 3-left:place(gray_clothes, backpack), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Placing two oranges into a paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-left:move_to(none,orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none,orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Placing two oranges into a paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-left:move_to(none,orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none,orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Put an orange into the paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-left:move_to(none, orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none, orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Put an orange into the paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-right:move_to(none, first_orange), left:no_ops, 1-right:grasp(first_orange), left:no_ops, 2-right:pick_up(first_orange), left:no_ops, 3-right:place(first_orange, bag), left:no_ops, 4-right:move_to(none, second_orange), left:no_ops, 5-right:grasp(second_orange), left:no_ops, 6-right:pick_up(second_orange), left:no_ops, 7-right:place(second_orange, bag), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Placing two oranges into a paper bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 8 steps.",
+    "gt_answer": "0-left:move_to(none,orange), right:no_ops, 1-left:grasp(orange), right:no_ops, 2-left:pick_up(orange), right:no_ops, 3-left:place(orange, bag), right:no_ops, 4-left:move_to(none,orange), right:no_ops, 5-left:grasp(orange), right:no_ops, 6-left:pick_up(orange), right:no_ops, 7-left:place(orange, bag), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_2_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "0-left:move_to(none, sponge), right:no_ops, 1-left:grasp(sponge), right:no_ops, 2-left:pick_up(sponge), right:no_ops, 3-left:wipe(sponge, left_surface,table), right:no_ops, 4-left:place(sponge,middle_table), right:no_ops, 5-rgiht:move_to(none, sponge), right:no_ops, 6-right:grasp(sponge), left:no_ops, 7-right:pick_up(sponge), left:no_ops, 8-right:wipe(sponge,right_surface,table), left:no_ops, 9-right:place(sponge,middle_table), left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "0-right:move_to(none, sponge), left:no_ops, 1-right:grasp(sponge), left:no_ops, 2-right:pick_up(sponge), left:no_ops, 3-right:wipe(sponge,right_surface,table), left:no_ops, 4-right:place(sponge,middle_of_table),left:no_ops, 5-left:move_to(none, sponge), right:no_ops, 6-left:grasp(sponge), right:no_ops, 7-left:pick_up(sponge), right:no_ops, 8-left:wipe(sponge,left_surface,table), right:no_ops, 9-left:place(sponge,middle_of_table),right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_9_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "0-right:move_to(none, sponge), left:no_ops, 1-right:grasp(sponge), left:no_ops, 2-right:pick_up(sponge), left:no_ops, 3-right:wipe(sponge, right_surface,table), left:no_ops, 4-right:place(sponge,middle_of_table),left:no_ops, 5-left:move_to(none, sponge), right:no_ops, 6-left:grasp(sponge), right:no_ops, 7-left:pick_up(sponge), right:no_ops, 8-left:wipe(sponge,left_surface,table), right:no_ops, 9-left:place(sponge,middle_of_table),right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_11_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Wipe the table> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 10 steps.",
+    "gt_answer": "0-left:move_to(none, sponge), right:no_ops, 1-left:grasp(sponge), right:no_ops, 2-left:pick_up(sponge), right:no_ops, 3-left:wipe(sponge,left_surface,table), right:no_ops, 4-left:place(sponge,middle_of_table),right:no_ops, 5-right:move_to(none, sponge), left:no_ops, 6-right:grasp(sponge), left:no_ops, 7-right:pick_up(sponge), left:no_ops, 8-right:wipe(sponge,right_surface,table), left:no_ops, 9-right:place(sponge,middle_of_table),left:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Retrieving a glasses case from a bag and placing it on a table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, bag), right:move_to(none,glass_case), 1-left:grasp(bag_handle), right:grasp(glass_case), 2-left:pick_up(bag), right:pick_up(glass_case), 3-left:no_ops, right:move_to(glasses_case,table), 4-left:place(bag,table), right:place(glasses_case, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Retrieving a glasses case from a bag and placing it on a table.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, bag), right:move_to(none,glass_case), 1-left:grasp(bag_handle), right:grasp(glass_case), 2-left:pick_up(bag), right:pick_up(glass_case), 3-left:no_ops, right:move_to(glasses_case,table), 4-left:place(bag,table), right:place(glasses_case, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Removing a pen cap.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, pen_body), 1-left:move_to(none, pen_cap), right:grasp(pen_body), 2-left:grasp(pen_cap), right:pick_up(pen_body), 3-left:pullout(pen_cap,pen) right:hold(pen_body), 4-left:place(pen_cap,table), right:place(pen_body, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Removing a pen cap.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, pen_body), 1-left:move_to(none, pen_cap), right:grasp(pen_body), 2-left:grasp(pen_cap), right:pick_up(pen_body), 3-left:pullout(pen_cap,pen) right:hold(pen_body), 4-left:place(pen_cap,table), right:place(pen_body, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_13_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Removing a pen cap.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none, pen_body), 1-left:move_to(none, pen_cap), right:grasp(pen_body), 2-left:grasp(pen_cap), right:pick_up(pen_body), 3-left:pullout(pen_cap,pen) right:hold(pen_body), 4-left:place(pen_cap,table), right:place(pen_body, table)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_turn_off_light_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Turning off a light switch.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "0-left:move_to(none, light_switch), right:no_ops, 1-left:grasp(switch), right:no_ops, 2-left:press(switch), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_turn_off_light_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Turning off a light switch.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "0-left:move_to(none, switch), right:no_ops, 1-left:grasp(switch), right:no_ops, 2-left:press(switch), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_turn_off_light_episode_8_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Turning off a light switch.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 3 steps.",
+    "gt_answer": "0-left:move_to(none, switch), right:no_ops, 1-left:grasp(switch), right:no_ops, 2-left:press(switch), right:no_ops",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_unwind_charging_cable_episode_10_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Straightening a charging cable.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
+    "gt_answer": "0-left:move_to(none, charging_cable), right:no_ops, 1-left:grasp(charging_cable), right:no_ops, 2-left:pick_up(charging_cable), right:no_ops, 3-left:no_ops, right:grasp(other_ end_charging), 4-left:pull(charging,straight), right:pull(charging,straight)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_unzip_the_bag_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Opening a zippered file bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:no_ops,right:move_to(none, bag), 1-right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper), 2-right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper), 3-right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_wash_cup_1_episode_5_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Filling a mug with water from a faucet.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, faucet), right:move_to(none, mug), 1-left:grasp(faucet), right:grasp(mug), 2-left:no_ops, right:pick_up(mug), 3-left:turn_on(faucet), right:place(mug,faucet)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_wash_cup_3_episode_4_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Rinsing a mug.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none,faucet), right:move_to(none, mug), 1-left:no_ops, right:grasp(mug), 2-left:no_ops right:pick_up(mug), 3-left:turn_on(faucet),right:place(mug,faucet)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_wash_water_episode_12_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Filling a mug with water from a faucet.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, faucet), right:move_to(none, mug), 1-left:grasp(faucet), right:grasp(mug), 2-left:no_ops, right:pick_up(mug), 3-left:turn_on(faucet), right:place(mug,faucet)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_3_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Writing \"Hi!\" on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none,marker), 1-left:no_ops, right:grasp(marker), 2-left:no_ops, right:pick_up(marker), 3-right:draw(marker,'H', whiteboard), 4-right:draw(marker,'i', whiteboard), 5-right:draw(marker,'!', whiteboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_14_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Writing \"Hi!\" on a whiteboard.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 6 steps.",
+    "gt_answer": "0-left:no_ops, right:move_to(none,marker), 1-left:no_ops, right:grasp(marker), 2-left:no_ops, right:pick_up(marker), 3-left:no_ops, right:draw(marker'H', whiteboard), 4-left:no_ops:, right:draw(marker,'i', whiteboard), 5-left:no_ops:, right:draw(marker,'!', whiteboard)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  },
+  {
+    "unique_id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_zip_the_bag_episode_7_Q1",
+    "task_type": [
+      "3_generalized_planning",
+      "cross_view",
+      "single_view"
+    ],
+    "input_type": "video",
+    "robotic_type": "dual-arm",
+    "question": "With <Closing a zipper on a plastic file bag.> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 4 steps.",
+    "gt_answer": "0-left:move_to(none, plastic_file_bag), right:no_ops, 1-left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper), 2-left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper), 3-left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)",
+    "image_urls": [
+      "frame_00.png"
+    ]
+  }
+]
\ No newline at end of file