[
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3164_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Cover the lid of the kettle> 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, kettle_lid),2-press(kettle_lid)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2597_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <hang a bag on a hook> as the goal, steps so far are shown in the video, is step 3-pick_up(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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_take_out_chips_from_packaging_episode_0_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening a potato chips can> 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, chips_can),2-grasp(chips_can),3-pick_up(chips_can),4-pull(chips_can, none),5-move_to(chips_can,table),6-place(chips_can,table)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_take_out_chips_from_packaging_episode_0_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening a potato chips can> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "4-pull(chips_can, none)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "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_object/world_knowledge/images/RDT-FT_imgs_1_take_out_chips_from_packaging_episode_0_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening a potato chips can> as the goal, steps so far are shown in the video, is step 2-grasp(chips_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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3261_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <turning off a running faucet> 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, faucet_switch),2-press(faucet_switch)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2438_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <turn on the light> 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, light_switch),2-press(light_switch)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2438_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <turn on the light> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "2-press(light_switch)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png",
      "frame_05.png",
      "frame_06.png",
      "frame_07.png",
      "frame_08.png",
      "frame_09.png",
      "frame_10.png",
      "frame_11.png",
      "frame_12.png",
      "frame_13.png",
      "frame_14.png",
      "frame_15.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2438_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <turn on the light> as the goal, steps so far are shown in the video, is step 1-move_to(none, light_switch) finished?",
    "gt_answer": "yes",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png",
      "frame_05.png",
      "frame_06.png",
      "frame_07.png",
      "frame_08.png",
      "frame_09.png",
      "frame_10.png",
      "frame_11.png",
      "frame_12.png",
      "frame_13.png",
      "frame_14.png",
      "frame_15.png"
    ]
  },
  {
    "unique_id": "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_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <filling a bottle with water> 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, under_of_water_dispenser_tap),5-pick_up(bottle),6-hold(bottle),7-place(bottle, desktop)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_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_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <filling a bottle with water> as the goal, steps so far are shown in the video, is step 3-pick_up(bottle) finished?",
    "gt_answer": "no",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2910_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the food into the pot, stir and cover it with a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 27 steps.",
    "gt_answer": "1-move_to(pot_lid),2-grasp(pot_lid_handle),3-pick_up(pot_lid),4-move_to(pot_lid, desktop),5-place(pot_lid, desktop),6-move_to(none, food_on_bowl),7-grasp(food),8-pick_up(food),9-move_to(food, pot),10-place(food, pot),11-move_to(none, napkin),12-grasp(napkin),13-pick_up(napkin),14-move_to(napkin, desktop),15-place(napkin, desktop),16-move_to(none, spoon),17-grasp(spoon_handle),18-pick_up(spoon),19-move_to(spoon, inside_of_pot),20-stir(spoon, food, pot),21-move_to(spoon, desktop),22-place(spoon, desktop),23-move_to(none, pot_lid),24-grasp(pot_lid),25-pick_up(pot_lid),26-move_to(pot_lid, pot),27-place(pot_lid, pot)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2447_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <place the food into the wok and cover it with a lid> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.",
    "gt_answer": "1-move_to(none, lid),2-grasp(lid_handle),3-pick_up(lid),4-move_to(lid, counter),5-place(lid, counter),6-move_to(none, first_food),7-grasp(first_food),8-pick_up(first_food),9-move_to(first_food,frying_pan),10-place(first_food,frying_pan),11-move_to(none, second_food),12-grasp(second_food),13-pick_up(second_food),14-move_to(second_food,frying_pan),15-place(second_food,frying_pan),16-move_to(none, third_food),17-grasp(third_food),18-pick_up(third_food),19-move_to(third_food,frying_pan),20-place(third_food,frying_pan),21-move_to(none, lid),22-grasp(lid_handle),23-pick_up(lid),24-move_to(lid,frying_pan),25-place(lid,frying_pan)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2447_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <place the food into the wok and cover it with a lid> as the goal, steps so far are shown in the video, is step 7-grasp(first_food) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_571_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put all the objects on the table into the bowl> 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(green_ball),\n2-pick_up(green_ball),\n3-place(green_ball,bowl),\n4-grasp(second_green_ball),\n5-pick_up(second_green_ball),\n6-place(second_green_ball,bowl),\n7-grasp(first_yellow_ball),\n8-pick_up(first_yellow_ball),\n9-place(first_yellow_ball,bowl),\n10-grasp(banana),\n11-pick_up(banana),\n12-place(banana,bowl),\n13-grasp(apple),\n14-pick_up(apple),\n15-place(apple,bowl),\n16-grasp(red_ball),\n17-pick_up(red_ball),\n18-place(red_ball,bowl),\n19-grasp(second_yellow_ball),\n20-pick_up(second_yellow_ball),\n21-place(second_yellow_ball,bowl),\n22-grasp(pear),\n23-pick_up(pear),\n24-place(pear,bowl)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_571_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put all the objects on the table into the bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "8-pick_up(first_yellow_ball)",
    "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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_571_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put all the objects on the table into the bowl> as the goal, steps so far are shown in the video, is step 9-place(first_yellow_ball, bowl), 10-grasp(banana), 11-pick_up(banana), 12-place(banana, bowl), 13-grasp(apple), 14-pick_up(apple), 15-place(apple, bowl), 16-grasp(red_ball), 17-pick_up(red_ball), 18-place(red_ball, bowl), 19-grasp(second_yellow_ball), 20-pick_up(second_yellow_ball), 21-place(second_yellow_ball, bowl), 22-grasp(pear), 23-pick_up(pear), 24-place(pear, bowl) finished?",
    "gt_answer": "yes",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png",
      "frame_05.png",
      "frame_06.png",
      "frame_07.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2194_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <picking up a paper cup and placing it in the cup holder> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "3-pick_up(paper_cup)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2194_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <picking up a paper cup and placing it in the cup holder> as the goal, steps so far are shown in the video, is step 1-move_to(none, paper_cup) finished?",
    "gt_answer": "no",
    "image_urls": [
      "frame_00.png",
      "frame_01.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2350_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Place the objects in the pool 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, can),2-grasp(can),3-pick_up(can),4-move_to(can， countertop),5-place(none, can)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2350_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Place the objects in the pool on the countertop> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "3-pick_up(can)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png",
      "frame_05.png",
      "frame_06.png",
      "frame_07.png",
      "frame_08.png",
      "frame_09.png",
      "frame_10.png",
      "frame_11.png",
      "frame_12.png",
      "frame_13.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2350_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Place the objects in the pool on the countertop> 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",
      "frame_11.png",
      "frame_12.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2536_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Arrange the shoes on the shoe rack correctly> 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, shoe),2-grasp(shoe),3-pick_up(shoe),4-turn(shoe, anticlockwise, left_of_shoe),5-place(shoe, shoe_rack)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2536_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Arrange the shoes on the shoe rack correctly> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "2-grasp(shoe)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2536_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Arrange the shoes on the shoe rack correctly> as the goal, steps so far are shown in the video, is step 2-grasp(shoe) finished?",
    "gt_answer": "no",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1023_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put all the food on the table into the pot> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.",
    "gt_answer": "1-move_to(none, lid),2-grasp(lid_handle),3-pick_up(lid),4-move_to(lid,countertop),5-place(lid,countertop),6-move_to(none, first_food),7-grasp(first_food),8-pick_up(first_food),9-move_to(first_food,pot),10-place(first_food, pot),11-move_to(none, second_food),12-grasp(second_food),13-pick_up(second_food),14-move_to(second_food,pot),15-place(second_food, pot),16-move_to(none, third_food),17-grasp(third_food),18-pick_up(third_food),19-move_to(third_food,pot),20-place(third_food, pot),21-move_to(none, lid),22-grasp(lid_handlle),23-pick_up(lid),24-move_to(lid, pot),25-place(lid, pot)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1023_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put all the food on the table into the pot> as the goal, steps so far are shown in the video, is step 6-move_to(none, first_food) finished?",
    "gt_answer": "no",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2256_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the food in the tray on the table and place the cans from the brand on the tray> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 25 steps.",
    "gt_answer": "1-move_to(none, rag),2-grasp(rag),3-pick_up(rag),4-move_to(rag, desktop),5-place(rag, desktop),6-move_to(none, first_food),7-grasp(first_food),8-pick_up(first_food),9-move_to(first_food, desktop),10-place(first_food, desktop),11-move_to(none, second_food),12-grasp(second_food),13-pick_up(second_food),14-move_to(second_food, desktop),15-place(second_food, desktop),16-move_to(none, first_can),17-grasp(first_can),18-pick_up(first_can),19-move_to(first_can, tray),20-place(first_can, tray),21-move_to(none, second_can),22-grasp(second_can),23-pick_up(second_can),24-move_to(second_can, tray),25-place(second_can, tray)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2256_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the food in the tray on the table and place the cans from the brand on the tray> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "3-pick_up(rag)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2256_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the food in the tray on the table and place the cans from the brand on the tray> as the goal, steps so far are shown in the video, is step 3-pick_up(rag) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2444_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening window blinds> 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, blinds_top),2-grasp(blinds_top),3-pull(blinds_rope, )",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2444_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening window blinds> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "2-grasp(blinds_top)",
    "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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2444_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening window blinds> as the goal, steps so far are shown in the video, is step 1-move_to(none, blinds_top) finished?",
    "gt_answer": "no",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1032_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <folding a washcloth twice> 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, corner_of_washcloth),2-grasp(concer_of_washcloth),3-fold(washcloth, anticlockwise, left_of_washcloth),4-place(washcloth, countertop),5-move_to(none, corner_of_washcloth),6-grasp(concer_of_washcloth),7-fold(washcloth, anticlockwise, right_of_washcloth),8-place(washcloth, countertop)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1032_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <folding a washcloth twice> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "4-place(washcloth, countertop)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png",
      "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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_1032_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <folding a washcloth twice> as the goal, steps so far are shown in the video, is step 4-place(washcloth, countertop) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_46681_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Wipe the socket> 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, pen),2-grasp(pen),3-pick_up(pen),4-move_to(pen, desktop),5-place(pen, desktop),6-move_to(none, napkin),7-grasp(napkin),8-pick_up(napkin),9-move_to(napkin, socket),10-wipe(napkin, none, socket),11-move_to(napkin, desktop),12-place(napkin, desktop)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_46681_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Wipe the socket> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "2-grasp(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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_46681_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Wipe the socket> as the goal, steps so far are shown in the video, is step 4-move_to(pen, desktop) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2434_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Arrange the water bottle correctly> 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, water_bottle),2-grasp(water_bottle),3-pick_up(water_bottle),4-turn(water_bottle,anticlockwise, left_of_water_bottle)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2434_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Arrange the water bottle correctly> as the goal, steps so far are shown in the video, is step 1-move_to(none, water_bottle) finished?",
    "gt_answer": "no",
    "image_urls": [
      "frame_00.png",
      "frame_01.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_28951_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the coffee capsules into the coffee machine and close the trash can lid> 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, coffee_capsules),2-grasp(coffee_capsules),3-pick_up(coffee_capsules),4-move_to(coffee_capsules，coffee_machine),5-place(coffee_capsules，coffee_machine),6-move_to(none, trash_can_lid),7-press(trash_can_lid)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_28951_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the coffee capsules into the coffee machine and close the trash can lid> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "3-pick_up(coffee_capsules)",
    "image_urls": [
      "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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_28951_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the coffee capsules into the coffee machine and close the trash can lid> as the goal, steps so far are shown in the video, is step 2-grasp(coffee_capsules) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2565_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With < Place the kettle on the base> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "3-pick_up(kettle)",
    "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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2565_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With < Place the kettle on the base> as the goal, steps so far are shown in the video, is step 3-pick_up(kettle) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2179_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <adjusting a pillow on a chair> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "2-grasp(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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2179_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <adjusting a pillow on a chair> as the goal, steps so far are shown in the video, is step 1-move_to(none, pillow) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2634_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the cup next to the plate> 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, next_of_palte),5-place(cup, next_of_palte)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2634_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the cup next to the 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",
      "frame_08.png",
      "frame_09.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_playmahjong_episode_0_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Choose a suitable mahjong tile> 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, bird_mahjong_tile),2-grasp(bird_mahjong_tile),3-pick_up(mahjong_tile),4-move_to(mahjong_tile, middle_of_desktop),5-place(mahjong_tile, middle_of_desktop)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_playmahjong_episode_0_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Choose a suitable mahjong tile> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "4-move_to(mahjong_tile, middle_of_desktop)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png",
      "frame_05.png",
      "frame_06.png",
      "frame_07.png",
      "frame_08.png",
      "frame_09.png",
      "frame_10.png",
      "frame_11.png",
      "frame_12.png",
      "frame_13.png",
      "frame_14.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_playmahjong_episode_0_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Choose a suitable mahjong tile> as the goal, steps so far are shown in the video, is step 2-grasp(bird_mahjong_tile) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2518_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Stir the contents of 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, stir_rod),2-grasp(stir_rod),3-pick_up(stir_rod),4-move_to(stir_rod, pot),5-stir(stir_rod, none,pot)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2518_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Stir the contents of the pot> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "3-pick_up(stir_rod)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png",
      "frame_05.png",
      "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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2518_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Stir the contents of the pot> as the goal, steps so far are shown in the video, is step 2-grasp(stir_rod) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_9078_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Sprinkle spice into the frying 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, spice_container),2-grasp(spice_container),3-pick_up(spice_container),4-move_to(spice_container, fying_pan),5-pour(spice_container, spice, fying_pan)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_9078_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Sprinkle spice into the frying pan> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "4-move_to(spice_container, fying_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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_9078_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Sprinkle spice into the frying pan> as the goal, steps so far are shown in the video, is step 1-move_to(none, spice_container) finished?",
    "gt_answer": "no",
    "image_urls": [
      "frame_00.png",
      "frame_01.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2616_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the trash in the pool 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, trash),2-grasp(trash),3-pick_up(trash),4-move_to(trash,countertop),5-place(trash, countertop)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2616_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the trash in the pool on the countertop> as the goal, steps so far are shown in the video, is step 2-grasp(trash) finished?",
    "gt_answer": "yes",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png",
      "frame_05.png",
      "frame_06.png",
      "frame_07.png",
      "frame_08.png",
      "frame_09.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_369_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <wiping an object with 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(cloth),3-wipe(cloth, none, desktop)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2992_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Flip the paper cup over> 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, cup),2-grasp(cup),3-pick_up(cup),4-turn(cup, anticlockwise, overturn),5-move_to(cup, counter_top),6-place(cup, counter_top)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2992_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Flip the paper cup over> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "4-turn(cup, anticlockwise, overturn)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2992_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Flip the paper cup over> 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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2460_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening 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-pull(microwave_door,open)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2460_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening a microwave door> 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",
      "frame_13.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2460_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening 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",
      "frame_03.png",
      "frame_04.png",
      "frame_05.png",
      "frame_06.png",
      "frame_07.png",
      "frame_08.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13417_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening a microwave door> 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-move_to(none, bowl),2-grasp(bowl),3-pick_up(bowl),4-move_to(bowl, right_side_of_desktop),5-place(bowl, right_side_of_desktop),6-move_to(none, plate),7-grasp(plate),8-pick_up(plate),9-move_to(plate, right_side_of_desktop),10-place(plate, right_side_of_desktop),11-move_to(none, microwave_door),12-grasp(microwave_door),13-pick_up(microwave_door),14-pull(microwave_door, open)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13417_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening a microwave door> 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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13417_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <opening a microwave door> as the goal, steps so far are shown in the video, is step 3-pick_up(bowl) finished?",
    "gt_answer": "no",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3040_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the cup on the right side of the glass> 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, right_of_the_glass),5-place(cup, right_of_the_glass)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3040_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the cup on the right side of the glass> 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3040_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the cup on the right side of the glass> 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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13596_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Take the toothpaste out of the sink and place it on the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, toothpaste),2-grasp(toothpaste),3-pick_up(toothpaste),4-move_to(toothpaste, countertop),5-place(toothpaste, countertop)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13596_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Take the toothpaste out of the sink and place it on 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(toothpaste)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png",
      "frame_05.png",
      "frame_06.png",
      "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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_13596_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Take the toothpaste out of the sink and place it on the counter> as the goal, steps so far are shown in the video, is step 2-grasp(toothpaste) 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_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-127_episode-1_rgbd-1_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <placing a glass on a stand> 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),2-grasp(glass_base),3-pick_up(glass),4-move_to(glass, wooden_stand),5-place(glass, wooden_stand)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-127_episode-1_rgbd-1_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <placing a glass on a stand> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "2-grasp(glass_base)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "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_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-55_task-127_episode-1_rgbd-1_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <placing a glass on a stand> as the goal, steps so far are shown in the video, is step 1-move_to(none, 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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2439_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the cup into the 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-move_to(none, box_lid),2-grasp(box_lid),3-turn(box_lid, clockwise, open),4-move_to(none, cup),5-grasp(cup),6-pick_up(cup),7-move_to(cup, box),8-place(cup, box)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2439_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the cup into the box> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "3-turn(box_lid, clockwise, 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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2439_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the cup into the box> as the goal, steps so far are shown in the video, is step 2-grasp(box_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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3029_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the roll of paper on the counter> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 5 steps.",
    "gt_answer": "1-move_to(none, roll_of_paper),2-grasp(roll_of_paper),3-pick_up(roll_of_paper),4-move_to(roll_of_paper,countertop),5-place(roll_of_paper,countertop)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3029_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the roll of paper on the counter> as the goal, steps so far are shown in the video, is step 1-move_to(none, roll_of_paper) finished?",
    "gt_answer": "no",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3384_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <toasting bread> 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, bread),2-grasp(bread),3-pick_up(bread),4-move_to(bread, toaster),5-insert(bread, toaster),6-move_to(none, toaster_switch),7-press(toaster_switch)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3384_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <toasting bread> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "2-grasp(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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3384_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <toasting bread> 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",
      "frame_06.png",
      "frame_07.png",
      "frame_08.png",
      "frame_09.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2872_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <unfolding a piece of 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-move_to(none, left_corner_of_the_cloth),2-grasp(left_corner_of_the_cloth),3-unfold(cloth, right_of_the_cloth),4-place(cloth, countertop),5-move_to(none, left_corner_of_the_cloth),6-grasp(left_corner_of_the_cloth),7-unfold(cloth, left_of_the_cloth),8-place(cloth, countertop),9-move_to(none, right_upper_corner_of_the_cloth),10-grasp(right_upper_corner_of_the_cloth),11-unfold(cloth, left_of_the_cloth),12-place(cloth, countertop)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2872_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <unfolding a piece of cloth> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "4-place(cloth, countertop)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2872_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <unfolding a piece of cloth> as the goal, steps so far are shown in the video, is step 6-grasp(left_corner_of_the_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_object/world_knowledge/images/RDT-FT_imgs_1_pick_larger_value_episode_0_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Place large poker chips into the 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-move_to(none, red_poker_chip),2-grasp(red_poker_chip),3-pick_up(red_poker_chip),4-move_to(red_poker_chip, cup),5-place(red_poker_chip, cup)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/RDT-FT_imgs_1_pick_larger_value_episode_0_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Place large poker chips 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(red_poker_chip)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "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_object/world_knowledge/images/RDT-FT_imgs_1_pick_larger_value_episode_0_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Place large poker chips into the cup> as the goal, steps so far are shown in the video, is step 1-move_to(none, red_poker_chip) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2962_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Take a piece of napkin and place it on the table, then put the cup on the paper> 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, napkin_dispenser),2-grasp(napkin),3-pull(napkin, none),4-move_to(napkin, countertop),5-place(napkin, countertop),6-move_to(none, black_cup),7-grasp(black_cup_handle),8-pick_up(black_cup),9-move_to(black_cup, napkin),10-place(black_cup, napkin)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2962_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Take a piece of napkin and place it on the table, then put the cup on the paper> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "3-pull(napkin, none)",
    "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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2962_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Take a piece of napkin and place it on the table, then put the cup on the paper> as the goal, steps so far are shown in the video, is step 4-move_to(napkin, countertop) 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_41031_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "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_handle),2-grasp(door_handle),3-pull(door_handle, close)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_41031_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "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-pull(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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_41031_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "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_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_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-54_episode-1_rgbd-1_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Turn up the volume of the speaker> 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, speaker),2-grasp(speaker_switch),3-turn(speaker, clockwise, none)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-54_episode-1_rgbd-1_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Turn up the volume of the speaker> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "2-grasp(speaker_switch)",
    "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_object/world_knowledge/images/ARIO_imgs_extract-frames_RH20T_rgbd-1_series-67_task-54_episode-1_rgbd-1_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Turn up the volume of the speaker> as the goal, steps so far are shown in the video, is step 1-move_to(none, speaker) finished?",
    "gt_answer": "no",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2055_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the drinks on the white plate and the small snacks on the purple plate> as the goal, plan what steps to do to complete the goal?\n\nPlease limit your answer to at most 30 steps.",
    "gt_answer": "1-move_to(none, first_snack),2-grasp(snack),3-pick_up(snack),4-move_to(snack, purple_plate),5-place(snack, purple_plate),6-move_to(none, first_drink),7-grasp(drink),8-pick_up(drink),9-move_to(drink, white_plate),10-place(drink, white_plate),11-move_to(none, second_drink),12-grasp(drink),13-pick_up(drink),14-move_to(drink, white_plate),15-place(drink, white_plate),16-move_to(none, second_snack),17-grasp(snack),18-pick_up(snack),19-move_to(snack, purple_plate),20-place(snack, purple_plate),21-move_to(none, third_drink),22-grasp(drink),23-pick_up(drink),24-move_to(none, third_snack),25-grasp(snack),26-pick_up(snack),27-move_to(snack, purple_plate),28-place(snack, purple_plate)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2055_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put the drinks on the white plate and the small snacks on the purple plate> as the goal, steps so far are shown in the video, is step 4-move_to(snack, purple_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"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2859_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Open the cabinet door and put the green pepper into the bowl> 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, cabinet_door_handle),2-grasp(cabinet_door_handle),3-pull(cabinet_door, open),4-move_to(none, green_pepper),5-grasp(green_pepper),6-pick_up(green_pepper),7-move_to(green_pepper, bowl),8-place(green_pepper, bowl)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2859_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Open the cabinet door and put the green pepper into the bowl> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "2-grasp(cabinet_door_handle)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_2859_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Open the cabinet door and put the green pepper into the bowl> as the goal, steps so far are shown in the video, is step 2-grasp(cabinet_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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3476_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put a piece of cloth into the 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, cloth),2-grasp(cloth),3-pick_up(cloth),4-move_to(cloth, box),5-place(cloth, box),6-press(cloth)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3476_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put a piece of cloth into the box> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "6-press(cloth)",
    "image_urls": [
      "frame_00.png",
      "frame_01.png",
      "frame_02.png",
      "frame_03.png",
      "frame_04.png",
      "frame_05.png",
      "frame_06.png",
      "frame_07.png",
      "frame_08.png",
      "frame_09.png",
      "frame_10.png",
      "frame_11.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3476_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <Put a piece of cloth into the box> 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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3292_Q1",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <closing a rice cooker lid> 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, rice_cooker_lid),2-press(rice_cooker_lid)",
    "image_urls": [
      "frame_00.png"
    ]
  },
  {
    "unique_id": "3_generalized_planning/cross_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3292_Q2",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <closing a rice cooker lid> as the goal, steps so far are shown in the video, what is the next step to do?",
    "gt_answer": "2-press(rice_cooker_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_object/world_knowledge/images/rtx_frames__new_85_85_droid#episode_3292_Q3",
    "task_type": [
      "3_generalized_planning",
      "cross_object",
      "world_knowledge"
    ],
    "input_type": "video",
    "robotic_type": "single-arm",
    "question": "With <closing a rice cooker lid> as the goal, steps so far are shown in the video, is step 1-move_to(none, rice_cooker_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",
      "frame_06.png"
    ]
  }
]