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