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  1. procthor/tasks/AGENT_IN_ROOM_EXAMPLE.md +0 -123
  2. procthor/tasks/AGENT_NEAR_OBJECT_EXAMPLE.md +0 -168
  3. procthor/tasks/TASK_EXAMPLE.md +0 -136
  4. procthor/tasks/procthor000/task.json +0 -86
  5. procthor/tasks/procthor001/task.json +0 -57
  6. procthor/tasks/procthor002/task.json +0 -75
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  23. procthor/tasks/procthor019/task.json +0 -51
  24. procthor/tasks/procthor100/task.json +0 -61
  25. procthor/tasks/procthor101/task.json +0 -87
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  28. procthor/tasks/procthor104/task.json +0 -90
  29. procthor/tasks/procthor105/task.json +0 -67
  30. procthor/tasks/procthor106/task.json +0 -34
  31. procthor/tasks/procthor107/task.json +0 -77
  32. procthor/tasks/procthor108/task.json +0 -55
  33. procthor/tasks/procthor109/init.json +0 -16
  34. procthor/tasks/procthor109/task.json +0 -68
  35. procthor/tasks/procthor110/task.json +0 -43
  36. procthor/tasks/procthor111/task.json +0 -55
  37. procthor/tasks/procthor112/task.json +0 -79
  38. procthor/tasks/procthor113/init.json +0 -13
  39. procthor/tasks/procthor113/task.json +0 -54
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procthor/tasks/AGENT_IN_ROOM_EXAMPLE.md DELETED
@@ -1,123 +0,0 @@
1
- # Intelligent Room Location Determination Configuration Guide
2
-
3
- ## basic format
4
-
5
- 在 `task.json` 的 `success_conditions` 中添加 `agent_in_room` 条件：
6
-
7
- ```json
8
- {
9
- "type": "agent_in_room",
10
- "room_type": "Kitchen"
11
- }
12
- ```
13
-
14
- ## Comparison with object_in_room
15
-
16
- ### The object is in the room (object_type needs to be specified)
17
-
18
- ```json
19
- {
20
- "type": "object_in_room",
21
- "object_type": "TeddyBear", // 必须指定物体类型
22
- "room_type": "Bedroom"
23
- }
24
- ```
25
-
26
- ### The agent is in the room (no object_type required)
27
-
28
- ```json
29
- {
30
- "type": "agent_in_room",
31
- "room_type": "Kitchen" // 只需要指定房间类型
32
- }
33
- ```
34
-
35
- ## Complete example
36
-
37
- ### Example 1: Check only the agent position
38
-
39
- ```json
40
- {
41
- "task_id": "procthor00004",
42
- "task_name": "Go to kitchen",
43
- "success_conditions": [
44
- {
45
- "type": "agent_in_room",
46
- "room_type": "Kitchen"
47
- }
48
- ],
49
- "success_logic": "AND"
50
- }
51
- ```
52
-
53
- ### Example 2: Combined condition (agent + object)
54
-
55
- ```json
56
- {
57
- "task_id": "procthor00005",
58
- "task_name": "Move TeddyBear to bedroom and stay in kitchen",
59
- "success_conditions": [
60
- {
61
- "type": "object_in_room",
62
- "object_type": "TeddyBear",
63
- "room_type": "Bedroom"
64
- },
65
- {
66
- "type": "agent_in_room",
67
- "room_type": "Kitchen"
68
- }
69
- ],
70
- "success_logic": "AND"
71
- }
72
- ```
73
-
74
- ### Example 3: Multiple condition combinations
75
-
76
- ```json
77
- {
78
- "task_id": "procthor00006",
79
- "task_name": "Complete task in bedroom",
80
- "success_conditions": [
81
- {
82
- "type": "agent_in_room",
83
- "room_type": "Bedroom"
84
- },
85
- {
86
- "type": "object_state",
87
- "object_type": "Fridge",
88
- "state": "isOpen",
89
- "value": true
90
- },
91
- {
92
- "type": "object_in_room",
93
- "object_type": "Apple",
94
- "room_type": "Kitchen"
95
- }
96
- ],
97
- "success_logic": "AND"
98
- }
99
- ```
100
-
101
- ## Supported room types
102
-
103
- - `Kitchen` - 厨房
104
- - `Bathroom` - 浴室
105
- - `Bedroom` - 卧室
106
- - `LivingRoom` - 客厅
107
- - `DiningRoom` - 餐厅
108
- - 其他房间类型（根据场景而定）
109
-
110
- **注意**：房间名称大小写不敏感，`"Kitchen"` 和 `"kitchen"` 都可以。
111
-
112
- ## Implementation principle
113
-
114
- `agent_in_room` 条件使用 **floorPolygon（精确多边形）** 来判断智能体所在的房间：
115
-
116
- 1. 获取智能体的 (x, z) 位置
117
- 2. 使用 `_point_in_polygon()` 函数检查智能体是否在某个房间的多边形内
118
- 3. 这是最准确的方法，直接来自 ProcTHOR 的场景数据
119
-
120
- ## code location
121
-
122
- - **条件检查**：`evaluators/base.py` 第 321-388 行
123
- - **房间判断**：`evaluators/getters.py` 中的 `get_agent_room()` 函数
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/AGENT_NEAR_OBJECT_EXAMPLE.md DELETED
@@ -1,168 +0,0 @@
1
- # Configuration Guide for Agent Approach to Object Determination
2
-
3
- ## basic format
4
-
5
- 在 `task.json` 的 `success_conditions` 中添加 `agent_near_object` 条件：
6
-
7
- ```json
8
- {
9
- "type": "agent_near_object",
10
- "object_type": "Bed",
11
- "distance": 1.0
12
- }
13
- ```
14
-
15
- ## Parameter description
16
-
17
- - **`type`**: 必须为 `"agent_near_object"`
18
- - **`object_type`**: 目标物体类型（如 `"Bed"`, `"Fridge"`, `"Sofa"` 等）
19
- - **`distance`**: 最大距离（米），默认值为 `1.0`（如果未指定）
20
-
21
- ## Complete example
22
-
23
- ### Example 1: Move near the bed (within 1 meter)
24
-
25
- ```json
26
- {
27
- "task_id": "procthor00004",
28
- "task_name": "Move to bed",
29
- "instruction": "Move the agent to near the bed in the bedroom.",
30
- "scene_index": 100,
31
- "target_object_types": ["Bed"],
32
- "success_conditions": [
33
- {
34
- "type": "agent_near_object",
35
- "object_type": "Bed",
36
- "distance": 1.0
37
- }
38
- ],
39
- "success_logic": "AND",
40
- "max_steps": 100
41
- }
42
- ```
43
-
44
- ### Example 2: Move near the refrigerator (within 0.5 meters, more strict)
45
-
46
- ```json
47
- {
48
- "task_id": "procthor00005",
49
- "task_name": "Move close to fridge",
50
- "instruction": "Move very close to the refrigerator.",
51
- "success_conditions": [
52
- {
53
- "type": "agent_near_object",
54
- "object_type": "Fridge",
55
- "distance": 0.5
56
- }
57
- ],
58
- "success_logic": "AND"
59
- }
60
- ```
61
-
62
- ### Example 3: Combined condition (move near bed + in bedroom)
63
-
64
- ```json
65
- {
66
- "task_id": "procthor00006",
67
- "task_name": "Move to bed in bedroom",
68
- "instruction": "Move to the bed in the bedroom.",
69
- "success_conditions": [
70
- {
71
- "type": "agent_near_object",
72
- "object_type": "Bed",
73
- "distance": 1.0
74
- },
75
- {
76
- "type": "agent_in_room",
77
- "room_type": "Bedroom"
78
- }
79
- ],
80
- "success_logic": "AND"
81
- }
82
- ```
83
-
84
- ### Example 4: Move near the sofa (within 2 meters, looser)
85
-
86
- ```json
87
- {
88
- "task_id": "procthor00007",
89
- "task_name": "Move near sofa",
90
- "instruction": "Move near the sofa in the living room.",
91
- "success_conditions": [
92
- {
93
- "type": "agent_near_object",
94
- "object_type": "Sofa",
95
- "distance": 2.0
96
- }
97
- ],
98
- "success_logic": "AND"
99
- }
100
- ```
101
-
102
- ## distance calculation method
103
-
104
- - **2D距离**：只计算 X 和 Z 坐标的距离，忽略 Y 轴（高度）
105
- - **公式**：`distance = sqrt((agent_x - object_x)² + (agent_z - object_z)²)`
106
- - **单位**：米（meters）
107
-
108
- ## Supported object types
109
-
110
- 支持所有 ProcTHOR 中的物体类型，例如：
111
-
112
- - **家具**：`Bed`, `Sofa`, `Chair`, `Table`, `CounterTop`
113
- - **电器**：`Fridge`, `Microwave`, `Stove`, `TV`
114
- - **容器**：`Cabinet`, `Drawer`, `Sink`
115
- - **其他**：任何在场景中存在的物体类型
116
-
117
- **注意**：支持语义变体，例如 `"Apple"` 也会匹配 `"AppleSliced"`。
118
-
119
- ## Implementation principle
120
-
121
- 1. 获取智能体的 (x, z) 位置
122
- 2. 在场景中查找所有匹配 `object_type` 的对象（支持语义变体）
123
- 3. 计算智能体到每个匹配对象的2D距离
124
- 4. 如果最短距离 ≤ `distance`，返回成功（1.0），否则返回失败（0.0）
125
-
126
- ## code location
127
-
128
- - **条件检查**：`evaluators/base.py` 第 445-490 行
129
- - **距离计算**：`evaluators/metrics.py` 中的 `check_agent_near_object()` 函数
130
- - **位置获取**：`evaluators/getters.py` 中的 `get_agent_position()` 函数
131
-
132
- ## debugging information
133
-
134
- 当评估时，会输出详细的调试信息：
135
-
136
- ```
137
- 检查智能体到 Bed 的距离:
138
- 智能体位置: (6.75, 5.25)
139
- 最近对象: Bed|1|2|3, 距离: 0.85m, 阈值: 1.00m
140
- ✅ 智能体在 Bed 附近 (距离: 0.85m <= 1.00m)
141
- ```
142
-
143
- ## combination with other conditions
144
-
145
- `agent_near_object` 可以与其他条件组合使用：
146
-
147
- ```json
148
- {
149
- "success_conditions": [
150
- {
151
- "type": "agent_near_object",
152
- "object_type": "Bed",
153
- "distance": 1.0
154
- },
155
- {
156
- "type": "agent_in_room",
157
- "room_type": "Bedroom"
158
- },
159
- {
160
- "type": "object_state",
161
- "object_type": "Bed",
162
- "state": "isOpen",
163
- "value": false
164
- }
165
- ],
166
- "success_logic": "AND"
167
- }
168
- ```
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/TASK_EXAMPLE.md DELETED
@@ -1,136 +0,0 @@
1
- # Task configuration example: Move teddy bear from bedroom to bathroom
2
-
3
- ## Task description
4
-
5
- 将泰迪熊（TeddyBear）从卧室（Bedroom）的床上移动到浴室（Bathroom）。
6
-
7
- ## Success condition settings
8
-
9
- ### Method 1: Check only the target room (recommended)
10
-
11
- ```json
12
- {
13
- "task_id": "procthor00003",
14
- "task_name": "Move TeddyBear from Bedroom to Bathroom",
15
- "instruction": "Move the TeddyBear from the bed in the bedroom to the bathroom.",
16
- "scene_index": 100,
17
- "target_object_types": ["TeddyBear"],
18
- "success_conditions": [
19
- {
20
- "type": "object_in_room",
21
- "object_type": "TeddyBear",
22
- "room_type": "Bathroom"
23
- }
24
- ],
25
- "success_logic": "AND",
26
- "max_steps": 100
27
- }
28
- ```
29
-
30
- **说明**：
31
- - 只要泰迪熊在浴室（Bathroom）中，任务就成功
32
- - 不需要检查是否不在卧室，因为只要在浴室就满足了要求
33
-
34
- ### Method 2: Combined conditions (more stringent)
35
-
36
- 如果需要确保泰迪熊不在卧室，可以添加反向条件：
37
-
38
- ```json
39
- {
40
- "success_conditions": [
41
- {
42
- "type": "object_in_room",
43
- "object_type": "TeddyBear",
44
- "room_type": "Bathroom"
45
- },
46
- {
47
- "type": "object_state",
48
- "object_type": "TeddyBear",
49
- "state": "isPickedUp",
50
- "value": false
51
- }
52
- ],
53
- "success_logic": "AND"
54
- }
55
- ```
56
-
57
- **说明**：
58
- - 第一个条件：泰迪熊必须在浴室
59
- - 第二个条件：泰迪熊必须被放下（不在手中）
60
-
61
- ## Code recognition ability
62
-
63
- ✅ **代码已支持 `object_in_room` 条件**
64
-
65
- ### Implementation method
66
-
67
- 代码使用 **floorPolygon（精确多边形）** 来判断对象所在的房间：
68
-
69
- 1. **优先使用 floorPolygon**：
70
- - 获取对象的 (x, z) 位置
71
- - 使用 `_point_in_polygon()` 函数检查对象是否在某个房间的多边形内
72
- - 这是最准确的方法，直接来自 ProcTHOR 的场景数据
73
-
74
- 2. **回退方案**：
75
- - 如果 floorPolygon 不可用，会使用对象的 `roomType` 属性（如果存在）
76
-
77
- ### code location
78
-
79
- - **条件检查**：`evaluators/base.py` 第 390-419 行
80
- - **房间判断**：`evaluators/getters.py` 中的 `_build_room_boundaries_from_house_scene()` 和 `_point_in_polygon()`
81
-
82
- ## Usage example
83
-
84
- ### Run task assessment
85
-
86
- ```bash
87
- python scripts/evaluate_action_sequence.py \
88
- --task-config tasks/procthor00003/task.json \
89
- --action-sequence actions.json
90
- ```
91
-
92
- ### Use in code
93
-
94
- ```python
95
- from envs.procthor_wrapper import ProcTHOREnvWrapper
96
- import json
97
-
98
- # Load task configuration
99
- with open('tasks/procthor00003/task.json', 'r') as f:
100
- task_config = json.load(f)
101
-
102
- # Create environment
103
- env = ProcTHOREnvWrapper(
104
- scene_index=task_config['scene_index'],
105
- config={'task': task_config}
106
- )
107
-
108
- # Reset environment
109
- observation = env.reset(task_config['instruction'])
110
-
111
- # Execute action sequence...
112
- # ...
113
-
114
- # Assessment tasks
115
- from evaluators.base import create_evaluator_from_config
116
- evaluator = create_evaluator_from_config(task_config)
117
- score = evaluator.evaluate(env, env.controller.last_event.metadata)
118
- print(f"任务得分: {score}")
119
- ```
120
-
121
- ## Things to note
122
-
123
- 1. **房间名称大小写**：代码支持大小写不敏感匹配，`"Bathroom"` 和 `"bathroom"` 都可以
124
-
125
- 2. **对象类型匹配**：支持语义变体，例如 `"Apple"` 也会匹配 `"AppleSliced"`
126
-
127
- 3. **多个对象**：如果有多个相同类型的对象，只要有一个满足条件就会返回成功
128
-
129
- 4. **对象位置**：使用对象的 `position` 字段中的 `x` 和 `z` 坐标来判断房间
130
-
131
- ## Other available success condition types
132
-
133
- - `object_state`: 检查对象状态（如 `isOpen`, `isPickedUp` 等）
134
- - `object_in_hand`: 检查对象是否在手中
135
- - `object_in_receptacle`: 检查对象是否在容器中
136
- - `agent_in_room`: 检查智能体是否在指定房间
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor000/task.json DELETED
@@ -1,86 +0,0 @@
1
- {
2
- "task_id": "procthor000",
3
- "task_name": "Bedside Tomato Delivery",
4
- "instruction": "I'm planning to eat a tomato in bed. Could you go get a tomato and wait by my bedside?",
5
- "golden_actions": {
6
- "steps": 48,
7
- "actions": [
8
- "Rotate(left, 90)",
9
- "Rotate(left, 90)",
10
- "Move(right, 0.25)",
11
- "Move(forward, 0.5)",
12
- "Move(right, 0.25)",
13
- "Move(right, 0.25)",
14
- "Move(forward, 1.0)",
15
- "Move(forward, 1.0)",
16
- "Rotate(right, 90)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 0.5)",
19
- "Move(forward, 0.25)",
20
- "Rotate(right, 90)",
21
- "Move(left, 0.25)",
22
- "Move(forward, 1.0)",
23
- "Move(left, 0.25)",
24
- "Move(forward, 0.5)",
25
- "Move(left, 0.25)",
26
- "Move(left, 0.25)",
27
- "Move(forward, 1.0)",
28
- "Move(forward, 1.0)",
29
- "Move(forward, 0.5)",
30
- "Move(forward, 0.25)",
31
- "Move(right, 0.25)",
32
- "Move(forward, 0.25)",
33
- "Move(right, 0.25)",
34
- "Pick(Tomato)",
35
- "Rotate(left, 90)",
36
- "Rotate(left, 90)",
37
- "Move(forward, 1.0)",
38
- "Move(forward, 1.0)",
39
- "Move(forward, 1.0)",
40
- "Move(forward, 1.0)",
41
- "Move(forward, 0.5)",
42
- "Move(left, 0.25)",
43
- "Move(left, 0.25)",
44
- "Move(left, 0.25)",
45
- "Move(left, 0.25)",
46
- "Move(left, 0.25)",
47
- "Move(left, 0.25)",
48
- "Rotate(left, 90)",
49
- "Move(forward, 0.25)",
50
- "Move(right, 0.25)",
51
- "Move(right, 0.25)",
52
- "Move(forward, 0.5)",
53
- "Move(forward, 0.25)",
54
- "Tilt(down, 30)",
55
- "EndTask(success)"
56
- ]
57
- },
58
- "scene_index": 100,
59
- "target_object_types": [
60
- "Bed",
61
- "Tomato"
62
- ],
63
- "success_conditions": [
64
- {
65
- "type": "object_state",
66
- "object_type": "Tomato",
67
- "state": "isPickedUp",
68
- "value": true
69
- },
70
- {
71
- "type": "agent_in_room",
72
- "room_type": "Bedroom"
73
- },
74
- {
75
- "type": "agent_near_object",
76
- "object_type": "Bed",
77
- "distance": 1.5
78
- }
79
- ],
80
- "success_logic": "AND",
81
- "target_description": "I'm planning to eat a tomato in bed. Could you go get a tomato and wait by my bedside?",
82
- "max_steps": 106,
83
- "Evaluation_Type": "Conditional",
84
- "Category": "Daily Household (Kitchen/Bedroom)",
85
- "Level": "Level3 Hybrid"
86
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor001/task.json DELETED
@@ -1,57 +0,0 @@
1
- {
2
- "task_id": "procthor001",
3
- "task_name": "Bathroom Toilet On & Return",
4
- "instruction": "I need to use the toilet. Please go to the bathroom, turn on the toilet, and then return to the bedroom.",
5
- "golden_actions": {
6
- "steps": 25,
7
- "actions": [
8
- "Move(right, 0.25)",
9
- "Move(forward, 1.0)",
10
- "Move(forward, 1.0)",
11
- "Move(forward, 0.5)",
12
- "Move(forward, 0.25)",
13
- "Rotate(right, 90)",
14
- "Move(left, 0.25)",
15
- "Move(forward, 1.0)",
16
- "Move(forward, 0.5)",
17
- "Move(forward, 0.25)",
18
- "Tilt(down, 30)",
19
- "Move(forward, 0.25)",
20
- "Move(right, 0.25)",
21
- "Move(forward, 0.25)",
22
- "Manipulate(Toilet, open)",
23
- "Rotate(left, 90)",
24
- "Rotate(left, 90)",
25
- "Move(right, 0.25)",
26
- "Move(right, 0.25)",
27
- "Move(forward, 1.0)",
28
- "Move(forward, 1.0)",
29
- "Rotate(left, 90)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 1.0)",
32
- "EndTask(success)"
33
- ]
34
- },
35
- "scene_index": 100,
36
- "target_object_types": [
37
- "Toilet"
38
- ],
39
- "success_conditions": [
40
- {
41
- "type": "object_state",
42
- "object_type": "Toilet",
43
- "state": "isOpen",
44
- "value": true
45
- },
46
- {
47
- "type": "agent_in_room",
48
- "room_type": "Bedroom"
49
- }
50
- ],
51
- "success_logic": "AND",
52
- "target_description": "I need to use the toilet. Please go to the bathroom, turn on the toilet, and then return to the bedroom.",
53
- "max_steps": 60,
54
- "Evaluation_Type": "Conditional",
55
- "Category": "Daily Household (Kitchen/Bedroom)",
56
- "Level": "Level3 Hybrid"
57
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor002/task.json DELETED
@@ -1,75 +0,0 @@
1
- {
2
- "task_id": "procthor002",
3
- "task_name": "Sofa Nap Pillow & Wait",
4
- "instruction": "I'd like to take a nap on the sofa. Please bring a pillow and wait for me next to the sofa.",
5
- "golden_actions": {
6
- "steps": 37,
7
- "actions": [
8
- "Rotate(left, 90)",
9
- "Rotate(left, 90)",
10
- "Move(forward, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(forward, 0.25)",
13
- "Move(right, 0.25)",
14
- "Move(forward, 0.5)",
15
- "Move(right, 0.25)",
16
- "Move(forward, 1.0)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 0.25)",
19
- "Rotate(left, 90)",
20
- "Move(right, 0.25)",
21
- "Pick(Pillow)",
22
- "Rotate(left, 90)",
23
- "Rotate(left, 90)",
24
- "Move(right, 0.25)",
25
- "Move(forward, 0.5)",
26
- "Move(forward, 0.25)",
27
- "Move(left, 0.25)",
28
- "Move(forward, 1.0)",
29
- "Move(forward, 1.0)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 1.0)",
32
- "Move(forward, 0.25)",
33
- "Move(right, 0.25)",
34
- "Move(forward, 1.0)",
35
- "Move(forward, 0.5)",
36
- "Rotate(left, 90)",
37
- "Move(forward, 1.0)",
38
- "Tilt(down, 30)",
39
- "Move(forward, 0.5)",
40
- "Move(right, 0.25)",
41
- "Move(right, 0.25)",
42
- "Move(right, 0.25)",
43
- "Move(forward, 0.5)",
44
- "EndTask(success)"
45
- ]
46
- },
47
- "scene_index": 100,
48
- "target_object_types": [
49
- "Sofa",
50
- "Pillow"
51
- ],
52
- "success_conditions": [
53
- {
54
- "type": "object_state",
55
- "object_type": "Pillow",
56
- "state": "isPickedUp",
57
- "value": true
58
- },
59
- {
60
- "type": "agent_in_room",
61
- "room_type": "LivingRoom"
62
- },
63
- {
64
- "type": "agent_near_object",
65
- "object_type": "Sofa",
66
- "distance": 1.5
67
- }
68
- ],
69
- "success_logic": "AND",
70
- "target_description": "I'd like to take a nap on the sofa. Please bring a pillow and wait for me next to the sofa.",
71
- "max_steps": 84,
72
- "Evaluation_Type": "Conditional",
73
- "Category": "Daily Household (Kitchen/Bedroom)",
74
- "Level": "Level3 Hybrid"
75
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor003/task.json DELETED
@@ -1,77 +0,0 @@
1
- {
2
- "task_id": "procthor003",
3
- "task_name": "Phone Handoff & Wait by Sofa",
4
- "instruction": "I'm using my phone on the sofa. Please take my phone and wait for me next to the sofa.",
5
- "golden_actions": {
6
- "steps": 39,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Rotate(right, 90)",
10
- "Move(right, 0.25)",
11
- "Move(forward, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(forward, 1.0)",
14
- "Move(forward, 1.0)",
15
- "Move(forward, 0.5)",
16
- "Move(forward, 0.25)",
17
- "Rotate(left, 90)",
18
- "Move(right, 0.25)",
19
- "Move(right, 0.25)",
20
- "Tilt(down, 30)",
21
- "Move(right, 0.25)",
22
- "Move(right, 0.25)",
23
- "Move(forward, 0.25)",
24
- "Pick(CellPhone)",
25
- "Rotate(left, 90)",
26
- "Move(forward, 1.0)",
27
- "Rotate(left, 90)",
28
- "Move(forward, 1.0)",
29
- "Move(forward, 1.0)",
30
- "Move(forward, 0.25)",
31
- "Move(left, 0.25)",
32
- "Move(forward, 1.0)",
33
- "Move(forward, 1.0)",
34
- "Move(forward, 1.0)",
35
- "Move(forward, 1.0)",
36
- "Move(forward, 0.5)",
37
- "Move(forward, 0.25)",
38
- "Rotate(left, 90)",
39
- "Move(forward, 1.0)",
40
- "Move(forward, 0.5)",
41
- "Move(forward, 0.25)",
42
- "Move(right, 0.25)",
43
- "Move(right, 0.25)",
44
- "Move(right, 0.25)",
45
- "Move(forward, 0.25)",
46
- "EndTask(success)"
47
- ]
48
- },
49
- "scene_index": 100,
50
- "target_object_types": [
51
- "Sofa",
52
- "CellPhone"
53
- ],
54
- "success_conditions": [
55
- {
56
- "type": "object_state",
57
- "object_type": "CellPhone",
58
- "state": "isPickedUp",
59
- "value": true
60
- },
61
- {
62
- "type": "agent_in_room",
63
- "room_type": "LivingRoom"
64
- },
65
- {
66
- "type": "agent_near_object",
67
- "object_type": "Sofa",
68
- "distance": 1.5
69
- }
70
- ],
71
- "success_logic": "AND",
72
- "target_description": "I'm using my phone on the sofa. Please take my phone and wait for me next to the sofa.",
73
- "max_steps": 88,
74
- "Evaluation_Type": "Conditional",
75
- "Category": "Daily Household (Kitchen/Bedroom)",
76
- "Level": "Level3 Hybrid"
77
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor004/task.json DELETED
@@ -1,69 +0,0 @@
1
- {
2
- "task_id": "procthor004",
3
- "task_name": "Fetch Tissues & Wait by Dining Table",
4
- "instruction": "I'll finish eating soon and I need tissues. Please go to the restroom, get some tissues, and wait for me near a dining table.",
5
- "golden_actions": {
6
- "steps": 35,
7
- "actions": [
8
- "Move(forward, 1.0)",
9
- "Move(forward, 1.0)",
10
- "Move(forward, 0.5)",
11
- "Rotate(right, 90)",
12
- "Move(left, 0.25)",
13
- "Move(left, 0.25)",
14
- "Move(left, 0.25)",
15
- "Move(forward, 1.0)",
16
- "Move(forward, 1.0)",
17
- "Move(forward, 0.25)",
18
- "Move(right, 0.25)",
19
- "Move(right, 0.25)",
20
- "Move(right, 0.25)",
21
- "Move(forward, 0.25)",
22
- "Pick(ToiletPaper)",
23
- "Rotate(left, 90)",
24
- "Rotate(left, 90)",
25
- "Move(right, 0.25)",
26
- "Move(forward, 0.25)",
27
- "Move(right, 0.25)",
28
- "Move(forward, 0.25)",
29
- "Move(right, 0.25)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 0.5)",
32
- "Rotate(left, 90)",
33
- "Move(forward, 1.0)",
34
- "Move(forward, 1.0)",
35
- "Rotate(left, 90)",
36
- "Move(right, 0.25)",
37
- "Move(right, 0.25)",
38
- "Move(right, 0.25)",
39
- "Move(forward, 0.25)",
40
- "Tilt(down, 30)",
41
- "Move(forward, 0.5)",
42
- "EndTask(success)"
43
- ]
44
- },
45
- "scene_index": 100,
46
- "target_object_types": [
47
- "DiningTable",
48
- "ToiletPaper"
49
- ],
50
- "success_conditions": [
51
- {
52
- "type": "object_state",
53
- "object_type": "ToiletPaper",
54
- "state": "isPickedUp",
55
- "value": true
56
- },
57
- {
58
- "type": "agent_near_object",
59
- "object_type": "DiningTable",
60
- "distance": 1.5
61
- }
62
- ],
63
- "success_logic": "AND",
64
- "target_description": "I'll finish eating soon and I need tissues. Please go to the restroom, get some tissues, and wait for me near a dining table.",
65
- "max_steps": 80,
66
- "Evaluation_Type": "Conditional",
67
- "Category": "Daily Household (Kitchen/Bedroom)",
68
- "Level": "Level3 Hybrid"
69
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor005/task.json DELETED
@@ -1,63 +0,0 @@
1
- {
2
- "task_id": "procthor005",
3
- "task_name": "Get Bowl for Rice",
4
- "instruction": "I'm going to serve the rice. Please pick up your bowl and stand near the counter.",
5
- "golden_actions": {
6
- "steps": 29,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Tilt(down, 30)",
10
- "Rotate(right, 90)",
11
- "Move(forward, 0.5)",
12
- "Move(forward, 0.25)",
13
- "Move(left, 0.25)",
14
- "Move(left, 0.25)",
15
- "Move(left, 0.25)",
16
- "Move(left, 0.25)",
17
- "Move(forward, 0.25)",
18
- "Pick(Bowl)",
19
- "Move(right, 0.25)",
20
- "Move(right, 0.25)",
21
- "Move(right, 0.25)",
22
- "Move(right, 0.25)",
23
- "Move(right, 0.25)",
24
- "Move(forward, 0.5)",
25
- "Move(right, 0.25)",
26
- "Move(forward, 0.5)",
27
- "Move(forward, 0.25)",
28
- "Move(right, 0.25)",
29
- "Move(forward, 1.0)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 1.0)",
32
- "Move(forward, 0.5)",
33
- "Rotate(right, 90)",
34
- "Move(forward, 1.0)",
35
- "Move(forward, 0.25)",
36
- "EndTask(success)"
37
- ]
38
- },
39
- "scene_index": 110,
40
- "target_object_types": [
41
- "Bowl",
42
- "CounterTop"
43
- ],
44
- "success_conditions": [
45
- {
46
- "type": "object_state",
47
- "object_type": "Bowl",
48
- "state": "isPickedUp",
49
- "value": true
50
- },
51
- {
52
- "type": "agent_near_object",
53
- "object_type": "CounterTop",
54
- "distance": 1.5
55
- }
56
- ],
57
- "success_logic": "AND",
58
- "target_description": "I'm going to serve the rice. Please pick up your bowl and stand near the counter.",
59
- "max_steps": 68,
60
- "Evaluation_Type": "Conditional",
61
- "Category": "Daily Household (Kitchen/Bedroom)",
62
- "Level": "Level3 Hybrid"
63
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor006/task.json DELETED
@@ -1,62 +0,0 @@
1
- {
2
- "task_id": "procthor006",
3
- "task_name": "Fetch an Egg from Fridge",
4
- "instruction": "I need to prepare a meal. Please take the an egg out of the refrigerator and stand near it.",
5
- "golden_actions": {
6
- "steps": 28,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Rotate(right, 90)",
10
- "Move(forward, 0.5)",
11
- "Move(forward, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(forward, 0.25)",
14
- "Move(right, 0.25)",
15
- "Move(forward, 1.0)",
16
- "Move(right, 0.25)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 1.0)",
19
- "Move(left, 0.25)",
20
- "Move(forward, 0.25)",
21
- "Move(left, 0.25)",
22
- "Move(forward, 0.25)",
23
- "Move(left, 0.25)",
24
- "Move(forward, 0.25)",
25
- "Move(left, 0.25)",
26
- "Move(forward, 0.25)",
27
- "Move(left, 0.25)",
28
- "Move(left, 0.25)",
29
- "Move(left, 0.25)",
30
- "Move(left, 0.25)",
31
- "Move(forward, 0.25)",
32
- "Manipulate(Fridge, open)",
33
- "Move(forward, 0.5)",
34
- "Pick(Egg)",
35
- "EndTask(success)"
36
- ]
37
- },
38
- "scene_index": 110,
39
- "target_object_types": [
40
- "Egg",
41
- "Fridge"
42
- ],
43
- "success_conditions": [
44
- {
45
- "type": "object_state",
46
- "object_type": "Egg",
47
- "state": "isPickedUp",
48
- "value": true
49
- },
50
- {
51
- "type": "agent_near_object",
52
- "object_type": "Fridge",
53
- "distance": 1.5
54
- }
55
- ],
56
- "success_logic": "AND",
57
- "target_description": "I need to prepare a meal. Please take the an egg out of the refrigerator and stand near it.",
58
- "max_steps": 66,
59
- "Evaluation_Type": "Conditional",
60
- "Category": "Daily Household (Kitchen/Bedroom)",
61
- "Level": "Level3 Hybrid"
62
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor007/task.json DELETED
@@ -1,68 +0,0 @@
1
- {
2
- "task_id": "procthor007",
3
- "task_name": "Bring Cup, Wait by Sofa",
4
- "instruction": "I'd like some water. Please go to the kitchen and get a cup, then wait for me near the sofa.",
5
- "golden_actions": {
6
- "steps": 34,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Rotate(right, 90)",
10
- "Move(forward, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(forward, 0.5)",
13
- "Move(right, 0.25)",
14
- "Move(forward, 0.25)",
15
- "Move(right, 0.25)",
16
- "Move(forward, 1.0)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 1.0)",
19
- "Move(forward, 1.0)",
20
- "Move(forward, 0.5)",
21
- "Rotate(right, 90)",
22
- "Move(forward, 0.5)",
23
- "Move(left, 0.25)",
24
- "Move(forward, 0.25)",
25
- "Pick(Cup)",
26
- "Rotate(right, 90)",
27
- "Rotate(right, 90)",
28
- "Move(forward, 1.0)",
29
- "Rotate(left, 90)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 1.0)",
32
- "Move(forward, 1.0)",
33
- "Move(forward, 1.0)",
34
- "Move(forward, 1.0)",
35
- "Move(forward, 1.0)",
36
- "Rotate(right, 90)",
37
- "Move(forward, 0.5)",
38
- "Move(forward, 0.25)",
39
- "Tilt(down, 30)",
40
- "Move(forward, 0.5)",
41
- "EndTask(success)"
42
- ]
43
- },
44
- "scene_index": 110,
45
- "target_object_types": [
46
- "Sofa",
47
- "Cup"
48
- ],
49
- "success_conditions": [
50
- {
51
- "type": "object_state",
52
- "object_type": "Cup",
53
- "state": "isPickedUp",
54
- "value": true
55
- },
56
- {
57
- "type": "agent_near_object",
58
- "object_type": "Sofa",
59
- "distance": 1.5
60
- }
61
- ],
62
- "success_logic": "AND",
63
- "target_description": "I'd like some water. Please go to the kitchen and get a cup, then wait for me near the sofa.",
64
- "max_steps": 78,
65
- "Evaluation_Type": "Conditional",
66
- "Category": "Daily Household (Kitchen/Bedroom)",
67
- "Level": "Level3 Hybrid"
68
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor008/task.json DELETED
@@ -1,63 +0,0 @@
1
- {
2
- "task_id": "procthor008",
3
- "task_name": "Get Spatula, Stand by Fridge",
4
- "instruction": "I need to use a spatula. Please pick up the spatula and stand near the refrigerator.",
5
- "golden_actions": {
6
- "steps": 29,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Rotate(right, 90)",
10
- "Move(forward, 0.5)",
11
- "Move(forward, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(forward, 0.25)",
14
- "Move(right, 0.25)",
15
- "Move(forward, 1.0)",
16
- "Move(forward, 1.0)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 0.5)",
19
- "Move(forward, 0.25)",
20
- "Rotate(right, 90)",
21
- "Move(left, 0.25)",
22
- "Move(left, 0.25)",
23
- "Move(forward, 0.25)",
24
- "Move(left, 0.25)",
25
- "Move(forward, 0.25)",
26
- "Move(left, 0.25)",
27
- "Move(forward, 0.5)",
28
- "Pick(Spatula)",
29
- "Rotate(left, 90)",
30
- "Rotate(left, 90)",
31
- "Move(forward, 1.0)",
32
- "Move(forward, 0.5)",
33
- "Move(right, 0.25)",
34
- "Move(forward, 1.0)",
35
- "Move(forward, 0.25)",
36
- "EndTask(success)"
37
- ]
38
- },
39
- "scene_index": 110,
40
- "target_object_types": [
41
- "Fridge",
42
- "Spatula"
43
- ],
44
- "success_conditions": [
45
- {
46
- "type": "object_state",
47
- "object_type": "Spatula",
48
- "state": "isPickedUp",
49
- "value": true
50
- },
51
- {
52
- "type": "agent_near_object",
53
- "object_type": "Fridge",
54
- "distance": 1.5
55
- }
56
- ],
57
- "success_logic": "AND",
58
- "target_description": "I need to use a spatula. Please pick up the spatula and stand near the refrigerator.",
59
- "max_steps": 68,
60
- "Evaluation_Type": "Conditional",
61
- "Category": "Daily Household (Kitchen/Bedroom)",
62
- "Level": "Level3 Hybrid"
63
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor009/task.json DELETED
@@ -1,75 +0,0 @@
1
- {
2
- "task_id": "procthor009",
3
- "task_name": "Get Spoon, Wait by Sofa",
4
- "instruction": "I need a spoon. Please pick up the spoon and stand near the sofa.",
5
- "golden_actions": {
6
- "steps": 41,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Rotate(right, 90)",
10
- "Move(forward, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(forward, 0.25)",
13
- "Move(right, 0.25)",
14
- "Move(forward, 0.25)",
15
- "Move(right, 0.25)",
16
- "Move(forward, 1.0)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 1.0)",
19
- "Move(forward, 1.0)",
20
- "Move(forward, 0.5)",
21
- "Rotate(right, 90)",
22
- "Move(left, 0.25)",
23
- "Move(left, 0.25)",
24
- "Move(forward, 0.5)",
25
- "Tilt(down, 30)",
26
- "Move(forward, 0.5)",
27
- "Move(forward, 0.25)",
28
- "Pick(Ladle)",
29
- "Move(backward, 0.25)",
30
- "Move(backward, 0.25)",
31
- "Move(backward, 0.25)",
32
- "Move(backward, 0.25)",
33
- "Move(backward, 0.25)",
34
- "Rotate(right, 90)",
35
- "Move(forward, 0.5)",
36
- "Move(right, 0.25)",
37
- "Move(forward, 1.0)",
38
- "Move(forward, 1.0)",
39
- "Move(forward, 1.0)",
40
- "Move(forward, 1.0)",
41
- "Move(forward, 1.0)",
42
- "Move(forward, 1.0)",
43
- "Rotate(right, 90)",
44
- "Move(forward, 0.5)",
45
- "Move(forward, 0.25)",
46
- "Move(left, 0.25)",
47
- "Move(forward, 0.5)",
48
- "EndTask(success)"
49
- ]
50
- },
51
- "scene_index": 110,
52
- "target_object_types": [
53
- "Ladle",
54
- "Sofa"
55
- ],
56
- "success_conditions": [
57
- {
58
- "type": "object_state",
59
- "object_type": "Ladle",
60
- "state": "isPickedUp",
61
- "value": true
62
- },
63
- {
64
- "type": "agent_near_object",
65
- "object_type": "Sofa",
66
- "distance": 1.5
67
- }
68
- ],
69
- "success_logic": "AND",
70
- "target_description": "I need a spoon. Please pick up the spoon and stand near the sofa.",
71
- "max_steps": 92,
72
- "Evaluation_Type": "Conditional",
73
- "Category": "Daily Household (Kitchen/Bedroom)",
74
- "Level": "Level3 Hybrid"
75
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor010/task.json DELETED
@@ -1,55 +0,0 @@
1
- {
2
- "task_id": "procthor010",
3
- "task_name": "Bring Basketball, Wait by TV Cabinet",
4
- "instruction": "I need your help to pick up the basketball from the bedroom floor and wait for me by the TV cabinet.",
5
- "golden_actions": {
6
- "steps": 17,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Move(left, 0.25)",
10
- "Move(left, 0.25)",
11
- "Move(forward, 0.25)",
12
- "Pick(BasketBall)",
13
- "Rotate(left, 90)",
14
- "Move(forward, 1.0)",
15
- "Move(forward, 0.5)",
16
- "Move(forward, 0.25)",
17
- "Move(right, 0.25)",
18
- "Move(forward, 1.0)",
19
- "Move(forward, 0.25)",
20
- "Rotate(right, 90)",
21
- "Move(forward, 0.5)",
22
- "Rotate(right, 90)",
23
- "Move(forward, 0.25)",
24
- "EndTask(success)"
25
- ]
26
- },
27
- "scene_index": 122,
28
- "target_object_types": [
29
- "BasketBall",
30
- "TVStand"
31
- ],
32
- "success_conditions": [
33
- {
34
- "type": "object_state",
35
- "object_type": "BasketBall",
36
- "state": "isPickedUp",
37
- "value": true
38
- },
39
- {
40
- "type": "agent_in_room",
41
- "room_type": "LivingRoom"
42
- },
43
- {
44
- "type": "agent_near_object",
45
- "object_type": "TVStand",
46
- "distance": 1.5
47
- }
48
- ],
49
- "success_logic": "AND",
50
- "target_description": "I need your help to pick up the basketball from the bedroom floor and wait for me by the TV cabinet.",
51
- "max_steps": 44,
52
- "Evaluation_Type": "Conditional",
53
- "Category": "Daily Household (Kitchen/Bedroom)",
54
- "Level": "Level3 Hybrid"
55
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor011/task.json DELETED
@@ -1,72 +0,0 @@
1
- {
2
- "task_id": "procthor011",
3
- "task_name": "Bring Watch, Wait by Fridge",
4
- "instruction": "I want to check the time. Please pick up a watch from the bedroom and wait for me by the refrigerator.",
5
- "golden_actions": {
6
- "steps": 38,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Move(right, 0.25)",
10
- "Move(forward, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(forward, 0.25)",
13
- "Move(right, 0.25)",
14
- "Move(forward, 0.25)",
15
- "Pick(Watch)",
16
- "Rotate(left, 90)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 1.0)",
19
- "Move(forward, 0.25)",
20
- "Move(left, 0.25)",
21
- "Move(forward, 1.0)",
22
- "Move(forward, 1.0)",
23
- "Move(forward, 0.25)",
24
- "Rotate(right, 90)",
25
- "Move(forward, 0.5)",
26
- "Move(right, 0.25)",
27
- "Move(forward, 0.5)",
28
- "Move(forward, 0.25)",
29
- "Move(right, 0.25)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 0.5)",
32
- "Move(forward, 0.25)",
33
- "Move(left, 0.25)",
34
- "Move(left, 0.25)",
35
- "Move(forward, 0.5)",
36
- "Move(left, 0.25)",
37
- "Move(left, 0.25)",
38
- "Move(left, 0.25)",
39
- "Move(left, 0.25)",
40
- "Move(left, 0.25)",
41
- "Move(forward, 0.25)",
42
- "Move(right, 0.25)",
43
- "Move(forward, 0.5)",
44
- "Move(forward, 0.25)",
45
- "EndTask(success)"
46
- ]
47
- },
48
- "scene_index": 122,
49
- "target_object_types": [
50
- "Watch",
51
- "Fridge"
52
- ],
53
- "success_conditions": [
54
- {
55
- "type": "object_state",
56
- "object_type": "Watch",
57
- "state": "isPickedUp",
58
- "value": true
59
- },
60
- {
61
- "type": "agent_near_object",
62
- "object_type": "Fridge",
63
- "distance": 1.5
64
- }
65
- ],
66
- "success_logic": "AND",
67
- "target_description": "I want to check the time. Please pick up a watch from the bedroom and wait for me by the refrigerator.",
68
- "max_steps": 86,
69
- "Evaluation_Type": "Conditional",
70
- "Category": "Daily Household (Kitchen/Bedroom)",
71
- "Level": "Level3 Hybrid"
72
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor012/task.json DELETED
@@ -1,63 +0,0 @@
1
- {
2
- "task_id": "procthor012",
3
- "task_name": "Bring Book, Stand by TV Cabinet",
4
- "instruction": "I'd like to do some organization. Please pick up a book and stand next to the TV cabinet.",
5
- "golden_actions": {
6
- "steps": 25,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Move(right, 0.25)",
10
- "Move(forward, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(forward, 0.25)",
13
- "Move(right, 0.25)",
14
- "Move(forward, 0.5)",
15
- "Move(forward, 0.25)",
16
- "Pick(Book)",
17
- "Rotate(left, 90)",
18
- "Move(forward, 0.5)",
19
- "Move(left, 0.25)",
20
- "Move(left, 0.25)",
21
- "Move(forward, 0.5)",
22
- "Move(forward, 0.25)",
23
- "Move(left, 0.25)",
24
- "Move(forward, 1.0)",
25
- "Move(forward, 1.0)",
26
- "Move(forward, 0.5)",
27
- "Move(forward, 0.25)",
28
- "Rotate(right, 90)",
29
- "Move(forward, 0.5)",
30
- "Rotate(right, 90)",
31
- "Move(left, 0.25)",
32
- "EndTask(success)"
33
- ]
34
- },
35
- "scene_index": 122,
36
- "target_object_types": [
37
- "Book",
38
- "TVStand"
39
- ],
40
- "success_conditions": [
41
- {
42
- "type": "object_state",
43
- "object_type": "Book",
44
- "state": "isPickedUp",
45
- "value": true
46
- },
47
- {
48
- "type": "agent_in_room",
49
- "room_type": "LivingRoom"
50
- },
51
- {
52
- "type": "agent_near_object",
53
- "object_type": "TVStand",
54
- "distance": 1.5
55
- }
56
- ],
57
- "success_logic": "AND",
58
- "target_description": "I'd like to do some organization. Please pick up a book and stand next to the TV cabinet.",
59
- "max_steps": 60,
60
- "Evaluation_Type": "Conditional",
61
- "Category": "Daily Household (Kitchen/Bedroom)",
62
- "Level": "Level3 Hybrid"
63
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor013/task.json DELETED
@@ -1,59 +0,0 @@
1
- {
2
- "task_id": "procthor013",
3
- "task_name": "Bring Pencil, Wait by TV Cabinet",
4
- "instruction": "I'd like to do some tidying up. Please pick up the pencil from the bedroom and stand near the TV cabinet.",
5
- "golden_actions": {
6
- "steps": 21,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Move(right, 0.25)",
10
- "Move(forward, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(forward, 0.5)",
13
- "Move(right, 0.25)",
14
- "Move(forward, 0.25)",
15
- "Pick(Pencil)",
16
- "Rotate(left, 90)",
17
- "Move(forward, 0.5)",
18
- "Move(left, 0.25)",
19
- "Move(forward, 1.0)",
20
- "Move(forward, 1.0)",
21
- "Move(forward, 0.25)",
22
- "Move(left, 0.25)",
23
- "Move(forward, 1.0)",
24
- "Move(forward, 0.25)",
25
- "Rotate(right, 90)",
26
- "Move(forward, 0.25)",
27
- "Move(right, 0.25)",
28
- "EndTask(success)"
29
- ]
30
- },
31
- "scene_index": 122,
32
- "target_object_types": [
33
- "Pencil",
34
- "TVStand"
35
- ],
36
- "success_conditions": [
37
- {
38
- "type": "object_state",
39
- "object_type": "Pencil",
40
- "state": "isPickedUp",
41
- "value": true
42
- },
43
- {
44
- "type": "agent_in_room",
45
- "room_type": "LivingRoom"
46
- },
47
- {
48
- "type": "agent_near_object",
49
- "object_type": "TVStand",
50
- "distance": 1.5
51
- }
52
- ],
53
- "success_logic": "AND",
54
- "target_description": "I'd like to do some tidying up. Please pick up the pencil from the bedroom and stand near the TV cabinet.",
55
- "max_steps": 52,
56
- "Evaluation_Type": "Conditional",
57
- "Category": "Daily Household (Kitchen/Bedroom)",
58
- "Level": "Level3 Hybrid"
59
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor014/task.json DELETED
@@ -1,74 +0,0 @@
1
- {
2
- "task_id": "procthor014",
3
- "task_name": "Bring Candle, Wait by Fridge",
4
- "instruction": "I need you to get me a candle and wait for me next to the refrigerator.",
5
- "golden_actions": {
6
- "steps": 40,
7
- "actions": [
8
- "Rotate(left, 90)",
9
- "Tilt(down, 30)",
10
- "Move(forward, 1.0)",
11
- "Move(forward, 0.5)",
12
- "Move(right, 0.25)",
13
- "Move(right, 0.25)",
14
- "Move(forward, 1.0)",
15
- "Move(forward, 1.0)",
16
- "Move(forward, 0.5)",
17
- "Move(forward, 0.25)",
18
- "Move(left, 0.25)",
19
- "Move(forward, 1.0)",
20
- "Rotate(left, 90)",
21
- "Move(forward, 0.5)",
22
- "Pick(Candle)",
23
- "Rotate(left, 90)",
24
- "Move(forward, 1.0)",
25
- "Rotate(left, 90)",
26
- "Move(forward, 0.25)",
27
- "Move(right, 0.25)",
28
- "Move(right, 0.25)",
29
- "Move(forward, 0.5)",
30
- "Move(right, 0.25)",
31
- "Move(right, 0.25)",
32
- "Move(forward, 1.0)",
33
- "Move(forward, 1.0)",
34
- "Move(forward, 1.0)",
35
- "Move(left, 0.25)",
36
- "Move(left, 0.25)",
37
- "Move(left, 0.25)",
38
- "Move(forward, 0.25)",
39
- "Move(left, 0.25)",
40
- "Move(left, 0.25)",
41
- "Move(left, 0.25)",
42
- "Move(forward, 0.25)",
43
- "Move(left, 0.25)",
44
- "Move(forward, 0.5)",
45
- "Move(right, 0.25)",
46
- "Move(forward, 0.5)",
47
- "EndTask(success)"
48
- ]
49
- },
50
- "scene_index": 122,
51
- "target_object_types": [
52
- "Candle",
53
- "Fridge"
54
- ],
55
- "success_conditions": [
56
- {
57
- "type": "object_state",
58
- "object_type": "Candle",
59
- "state": "isPickedUp",
60
- "value": true
61
- },
62
- {
63
- "type": "agent_near_object",
64
- "object_type": "Fridge",
65
- "distance": 1.5
66
- }
67
- ],
68
- "success_logic": "AND",
69
- "target_description": "I need you to get me a candle and wait for me next to the refrigerator.",
70
- "max_steps": 90,
71
- "Evaluation_Type": "Conditional",
72
- "Category": "Daily Household (Kitchen/Bedroom)",
73
- "Level": "Level3 Hybrid"
74
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor015/task.json DELETED
@@ -1,69 +0,0 @@
1
- {
2
- "task_id": "procthor015",
3
- "task_name": "Bring Candle, Wait by Bed",
4
- "instruction": "I need you to bring me a candle and wait for me by the bed.",
5
- "golden_actions": {
6
- "steps": 35,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Rotate(right, 90)",
10
- "Move(forward, 1.0)",
11
- "Move(right, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(right, 0.25)",
14
- "Move(right, 0.25)",
15
- "Move(right, 0.25)",
16
- "Move(forward, 0.5)",
17
- "Pick(Candle)",
18
- "Rotate(left, 90)",
19
- "Rotate(left, 90)",
20
- "Move(forward, 0.5)",
21
- "Move(forward, 0.25)",
22
- "Move(right, 0.25)",
23
- "Move(right, 0.25)",
24
- "Move(right, 0.25)",
25
- "Move(forward, 1.0)",
26
- "Move(forward, 1.0)",
27
- "Move(forward, 0.5)",
28
- "Rotate(left, 90)",
29
- "Move(forward, 1.0)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 0.25)",
32
- "Rotate(left, 90)",
33
- "Move(forward, 1.0)",
34
- "Move(right, 0.25)",
35
- "Move(forward, 1.0)",
36
- "Move(forward, 1.0)",
37
- "Rotate(right, 90)",
38
- "Move(forward, 0.5)",
39
- "Move(forward, 0.25)",
40
- "Move(left, 0.25)",
41
- "Move(forward, 0.25)",
42
- "EndTask(success)"
43
- ]
44
- },
45
- "scene_index": 126,
46
- "target_object_types": [
47
- "Candle",
48
- "Bed"
49
- ],
50
- "success_conditions": [
51
- {
52
- "type": "object_state",
53
- "object_type": "Candle",
54
- "state": "isPickedUp",
55
- "value": true
56
- },
57
- {
58
- "type": "agent_near_object",
59
- "object_type": "Bed",
60
- "distance": 1.5
61
- }
62
- ],
63
- "success_logic": "AND",
64
- "target_description": "I need you to bring me a candle and wait for me by the bed.",
65
- "max_steps": 80,
66
- "Evaluation_Type": "Conditional",
67
- "Category": "Daily Household (Kitchen/Bedroom)",
68
- "Level": "Level3 Hybrid"
69
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor016/task.json DELETED
@@ -1,95 +0,0 @@
1
- {
2
- "task_id": "procthor016",
3
- "task_name": "Deliver Basketball to Faucet",
4
- "instruction": "I want to wash the basketball. Please bring the basketball to the faucet and wait for me.",
5
- "golden_actions": {
6
- "steps": 61,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Rotate(left, 90)",
10
- "Move(left, 0.25)",
11
- "Move(forward, 1.0)",
12
- "Move(forward, 0.25)",
13
- "Move(left, 0.25)",
14
- "Move(forward, 0.25)",
15
- "Move(left, 0.25)",
16
- "Move(left, 0.25)",
17
- "Move(left, 0.25)",
18
- "Move(forward, 0.25)",
19
- "Move(left, 0.25)",
20
- "Move(left, 0.25)",
21
- "Move(left, 0.25)",
22
- "Move(left, 0.25)",
23
- "Move(forward, 0.25)",
24
- "Move(left, 0.25)",
25
- "Move(left, 0.25)",
26
- "Move(forward, 0.25)",
27
- "Move(left, 0.25)",
28
- "Move(left, 0.25)",
29
- "Move(forward, 0.25)",
30
- "Move(left, 0.25)",
31
- "Move(forward, 1.0)",
32
- "Move(forward, 0.5)",
33
- "Pick(BasketBall)",
34
- "Rotate(right, 90)",
35
- "Move(right, 0.25)",
36
- "Move(right, 0.25)",
37
- "Move(right, 0.25)",
38
- "Move(right, 0.25)",
39
- "Move(forward, 0.5)",
40
- "Move(right, 0.25)",
41
- "Move(forward, 0.25)",
42
- "Move(right, 0.25)",
43
- "Move(right, 0.25)",
44
- "Move(right, 0.25)",
45
- "Move(right, 0.25)",
46
- "Move(forward, 1.0)",
47
- "Move(forward, 1.0)",
48
- "Move(forward, 0.25)",
49
- "Move(right, 0.25)",
50
- "Move(right, 0.25)",
51
- "Move(right, 0.25)",
52
- "Move(right, 0.25)",
53
- "Move(right, 0.25)",
54
- "Move(right, 0.25)",
55
- "Move(forward, 0.25)",
56
- "Move(right, 0.25)",
57
- "Move(right, 0.25)",
58
- "Move(right, 0.25)",
59
- "Move(right, 0.25)",
60
- "Move(right, 0.25)",
61
- "Move(right, 0.25)",
62
- "Move(right, 0.25)",
63
- "Move(forward, 0.25)",
64
- "Move(right, 0.25)",
65
- "Move(right, 0.25)",
66
- "Move(right, 0.25)",
67
- "Move(forward, 1.0)",
68
- "EndTask(success)"
69
- ]
70
- },
71
- "scene_index": 126,
72
- "target_object_types": [
73
- "BasketBall",
74
- "Faucet"
75
- ],
76
- "success_conditions": [
77
- {
78
- "type": "object_state",
79
- "object_type": "BasketBall",
80
- "state": "isPickedUp",
81
- "value": true
82
- },
83
- {
84
- "type": "agent_near_object",
85
- "object_type": "Faucet",
86
- "distance": 1.5
87
- }
88
- ],
89
- "success_logic": "AND",
90
- "target_description": "I want to wash the basketball. Please bring the basketball to the faucet and wait for me.",
91
- "max_steps": 132,
92
- "Evaluation_Type": "Conditional",
93
- "Category": "Daily Household (Kitchen/Bedroom)",
94
- "Level": "Level3 Hybrid"
95
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor017/task.json DELETED
@@ -1,76 +0,0 @@
1
- {
2
- "task_id": "procthor017",
3
- "task_name": "Move Alarm Clock & Wait",
4
- "instruction": "I'm getting ready for bed. Please bring the alarm clock over, and wait for me by my bed.",
5
- "golden_actions": {
6
- "steps": 42,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Rotate(left, 90)",
10
- "Move(forward, 0.25)",
11
- "Move(left, 0.25)",
12
- "Move(forward, 0.5)",
13
- "Move(left, 0.25)",
14
- "Move(forward, 0.5)",
15
- "Move(forward, 0.25)",
16
- "Move(left, 0.25)",
17
- "Move(left, 0.25)",
18
- "Move(left, 0.25)",
19
- "Move(left, 0.25)",
20
- "Move(left, 0.25)",
21
- "Move(left, 0.25)",
22
- "Move(left, 0.25)",
23
- "Move(left, 0.25)",
24
- "Move(forward, 0.25)",
25
- "Move(left, 0.25)",
26
- "Move(left, 0.25)",
27
- "Move(left, 0.25)",
28
- "Move(forward, 0.25)",
29
- "Move(left, 0.25)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 1.0)",
32
- "Move(left, 0.25)",
33
- "Move(forward, 0.25)",
34
- "Pick(AlarmClock)",
35
- "Move(backward, 0.25)",
36
- "Move(backward, 0.25)",
37
- "Move(backward, 0.25)",
38
- "Rotate(left, 90)",
39
- "Rotate(left, 90)",
40
- "Move(forward, 1.0)",
41
- "Move(forward, 1.0)",
42
- "Move(forward, 1.0)",
43
- "Move(forward, 1.0)",
44
- "Move(forward, 0.5)",
45
- "Rotate(right, 90)",
46
- "Move(left, 0.25)",
47
- "Move(left, 0.25)",
48
- "Move(forward, 0.25)",
49
- "EndTask(success)"
50
- ]
51
- },
52
- "scene_index": 126,
53
- "target_object_types": [
54
- "AlarmClock",
55
- "Bed"
56
- ],
57
- "success_conditions": [
58
- {
59
- "type": "object_state",
60
- "object_type": "AlarmClock",
61
- "state": "isPickedUp",
62
- "value": true
63
- },
64
- {
65
- "type": "agent_near_object",
66
- "object_type": "Bed",
67
- "distance": 1.5
68
- }
69
- ],
70
- "success_logic": "AND",
71
- "target_description": "I'm getting ready for bed. Please bring the alarm clock over, and wait for me by my bed.",
72
- "max_steps": 94,
73
- "Evaluation_Type": "Conditional",
74
- "Category": "Daily Household (Kitchen/Bedroom)",
75
- "Level": "Level3 Hybrid"
76
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor018/task.json DELETED
@@ -1,71 +0,0 @@
1
- {
2
- "task_id": "procthor018",
3
- "task_name": "Pick Up Spray Bottle",
4
- "instruction": "I'd like to do some cleaning. Please pick up the spray bottle and wait for me at the side table.",
5
- "golden_actions": {
6
- "steps": 37,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Rotate(right, 90)",
10
- "Move(forward, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(forward, 1.0)",
14
- "Move(forward, 0.25)",
15
- "Rotate(right, 90)",
16
- "Move(left, 0.25)",
17
- "Move(forward, 0.5)",
18
- "Move(left, 0.25)",
19
- "Pick(SprayBottle)",
20
- "Rotate(right, 90)",
21
- "Move(forward, 1.0)",
22
- "Move(right, 0.25)",
23
- "Move(forward, 0.5)",
24
- "Move(right, 0.25)",
25
- "Move(forward, 1.0)",
26
- "Move(forward, 1.0)",
27
- "Move(forward, 0.5)",
28
- "Move(left, 0.25)",
29
- "Move(left, 0.25)",
30
- "Move(left, 0.25)",
31
- "Move(left, 0.25)",
32
- "Move(left, 0.25)",
33
- "Move(left, 0.25)",
34
- "Move(left, 0.25)",
35
- "Move(left, 0.25)",
36
- "Move(left, 0.25)",
37
- "Move(left, 0.25)",
38
- "Move(left, 0.25)",
39
- "Move(forward, 0.5)",
40
- "Move(forward, 0.25)",
41
- "Move(left, 0.25)",
42
- "Move(forward, 1.0)",
43
- "Move(forward, 0.25)",
44
- "EndTask(success)"
45
- ]
46
- },
47
- "scene_index": 126,
48
- "target_object_types": [
49
- "SprayBottle",
50
- "SideTable"
51
- ],
52
- "success_conditions": [
53
- {
54
- "type": "object_state",
55
- "object_type": "SprayBottle",
56
- "state": "isPickedUp",
57
- "value": true
58
- },
59
- {
60
- "type": "agent_near_object",
61
- "object_type": "SideTable",
62
- "distance": 1.5
63
- }
64
- ],
65
- "success_logic": "AND",
66
- "target_description": "I'd like to do some cleaning. Please pick up the spray bottle and wait for me at the side table.",
67
- "max_steps": 84,
68
- "Evaluation_Type": "Conditional",
69
- "Category": "Daily Household (Kitchen/Bedroom)",
70
- "Level": "Level3 Hybrid"
71
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor019/task.json DELETED
@@ -1,51 +0,0 @@
1
- {
2
- "task_id": "procthor019",
3
- "task_name": "Bring Plunger, Wait by Sink",
4
- "instruction": "I'd like to do some cleaning. Please pick up the plunger and wait for me by the sink.",
5
- "golden_actions": {
6
- "steps": 17,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Rotate(right, 90)",
10
- "Move(forward, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(forward, 0.5)",
13
- "Move(right, 0.25)",
14
- "Move(forward, 0.5)",
15
- "Move(right, 0.25)",
16
- "Move(forward, 0.5)",
17
- "Pick(Plunger)",
18
- "Rotate(left, 90)",
19
- "Move(forward, 1.0)",
20
- "Move(forward, 0.25)",
21
- "Move(right, 0.25)",
22
- "Move(right, 0.25)",
23
- "Move(forward, 0.5)",
24
- "EndTask(success)"
25
- ]
26
- },
27
- "scene_index": 126,
28
- "target_object_types": [
29
- "Plunger",
30
- "SinkBasin"
31
- ],
32
- "success_conditions": [
33
- {
34
- "type": "object_state",
35
- "object_type": "Plunger",
36
- "state": "isPickedUp",
37
- "value": true
38
- },
39
- {
40
- "type": "agent_near_object",
41
- "object_type": "SinkBasin",
42
- "distance": 1.5
43
- }
44
- ],
45
- "success_logic": "AND",
46
- "target_description": "I'd like to do some cleaning. Please pick up the plunger and wait for me by the sink.",
47
- "max_steps": 44,
48
- "Evaluation_Type": "Conditional",
49
- "Category": "Daily Household (Kitchen/Bedroom)",
50
- "Level": "Level3 Hybrid"
51
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor100/task.json DELETED
@@ -1,61 +0,0 @@
1
- {
2
- "task_id": "procthor100",
3
- "task_name": "Bring cup to bedroom",
4
- "instruction": "I'm a bit thirsty and want some water. Could you please bring a cup from the kitchen to the bedroom?",
5
- "golden_actions": {
6
- "steps": 34,
7
- "actions": [
8
- "Move(right, 0.25)",
9
- "Move(forward, 1.0)",
10
- "Move(forward, 1.0)",
11
- "Move(forward, 1.0)",
12
- "Move(forward, 0.25)",
13
- "Tilt(down, 30)",
14
- "Move(forward, 0.5)",
15
- "Move(left, 0.25)",
16
- "Move(left, 0.25)",
17
- "Move(forward, 0.25)",
18
- "Pick(Mug)",
19
- "Move(right, 0.25)",
20
- "Move(right, 0.25)",
21
- "Move(right, 0.25)",
22
- "Move(right, 0.25)",
23
- "Move(right, 0.25)",
24
- "Move(right, 0.25)",
25
- "Move(right, 0.25)",
26
- "Move(forward, 1.0)",
27
- "Move(forward, 0.5)",
28
- "Move(forward, 0.25)",
29
- "Move(left, 0.25)",
30
- "Move(left, 0.25)",
31
- "Move(left, 0.25)",
32
- "Move(left, 0.25)",
33
- "Move(left, 0.25)",
34
- "Move(left, 0.25)",
35
- "Move(left, 0.25)",
36
- "Move(left, 0.25)",
37
- "Move(left, 0.25)",
38
- "Move(left, 0.25)",
39
- "Move(forward, 1.0)",
40
- "Place(DiningTable)",
41
- "EndTask(success)"
42
- ]
43
- },
44
- "scene_index": 3,
45
- "target_object_types": [
46
- "Mug"
47
- ],
48
- "success_conditions": [
49
- {
50
- "type": "object_in_room",
51
- "object_type": "Mug",
52
- "room_type": "Bedroom"
53
- }
54
- ],
55
- "success_logic": "AND",
56
- "target_description": "I'm a bit thirsty and want some water. Could you please bring a cup from the kitchen to the bedroom?",
57
- "max_steps": 78,
58
- "Evaluation_Type": "Conditional",
59
- "Category": "Daily Household (Kitchen/Bedroom)",
60
- "Level": "Level1 Navigation"
61
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor101/task.json DELETED
@@ -1,87 +0,0 @@
1
- {
2
- "task_id": "procthor101",
3
- "task_name": "Put book in living room, stand by dining table",
4
- "instruction": "I left a book in my room. Please pick up a book, place it in the living room, and then stand next to the dining table.",
5
- "golden_actions": {
6
- "steps": 50,
7
- "actions": [
8
- "Move(right, 0.25)",
9
- "Move(right, 0.25)",
10
- "Move(right, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(forward, 1.0)",
13
- "Move(forward, 1.0)",
14
- "Move(forward, 0.5)",
15
- "Move(forward, 0.25)",
16
- "Move(right, 0.25)",
17
- "Move(right, 0.25)",
18
- "Move(forward, 1.0)",
19
- "Move(forward, 1.0)",
20
- "Move(forward, 0.25)",
21
- "Rotate(left, 90)",
22
- "Move(right, 0.25)",
23
- "Move(right, 0.25)",
24
- "Move(right, 0.25)",
25
- "Move(right, 0.25)",
26
- "Move(forward, 1.0)",
27
- "Move(forward, 0.5)",
28
- "Move(forward, 0.25)",
29
- "Rotate(right, 90)",
30
- "Move(forward, 0.25)",
31
- "Tilt(down, 30)",
32
- "Move(forward, 0.25)",
33
- "Move(left, 0.25)",
34
- "Move(left, 0.25)",
35
- "Pick(Book)",
36
- "Rotate(right, 90)",
37
- "Move(right, 0.25)",
38
- "Move(right, 0.25)",
39
- "Move(forward, 1.0)",
40
- "Move(forward, 0.5)",
41
- "Rotate(right, 90)",
42
- "Move(left, 0.25)",
43
- "Move(left, 0.25)",
44
- "Move(forward, 1.0)",
45
- "Move(forward, 1.0)",
46
- "Rotate(left, 90)",
47
- "Move(right, 0.25)",
48
- "Move(forward, 0.5)",
49
- "Move(forward, 0.25)",
50
- "Move(right, 0.25)",
51
- "Move(forward, 0.5)",
52
- "Move(forward, 0.25)",
53
- "Tilt(down, 30)",
54
- "Move(left, 0.25)",
55
- "Move(forward, 0.25)",
56
- "Place(DiningTable)",
57
- "EndTask(success)"
58
- ]
59
- },
60
- "scene_index": 3,
61
- "target_object_types": [
62
- "Book",
63
- "DiningTable"
64
- ],
65
- "success_conditions": [
66
- {
67
- "type": "agent_in_room",
68
- "room_type": "LivingRoom"
69
- },
70
- {
71
- "type": "object_in_room",
72
- "object_type": "Book",
73
- "room_type": "LivingRoom"
74
- },
75
- {
76
- "type": "agent_near_object",
77
- "object_type": "DiningTable",
78
- "distance": 1.35
79
- }
80
- ],
81
- "success_logic": "AND",
82
- "target_description": "I left a book in my room. Please pick up a book, place it in the living room, and then stand next to the dining table.",
83
- "max_steps": 110,
84
- "Evaluation_Type": "Conditional",
85
- "Category": "Daily Household (Kitchen/Bedroom)",
86
- "Level": "Level1 Navigation"
87
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor102/task.json DELETED
@@ -1,52 +0,0 @@
1
- {
2
- "task_id": "procthor102",
3
- "task_name": "Turn on computer screen, wait by dining table",
4
- "instruction": "Could you go and turn on the computer screen in the room? I want to check if it's damaged. Then please wait for me near any of the dining tables in the bedroom.",
5
- "golden_actions": {
6
- "steps": 14,
7
- "actions": [
8
- "Move(right, 0.25)",
9
- "Move(right, 0.25)",
10
- "Move(right, 0.25)",
11
- "Move(forward, 1.0)",
12
- "Rotate(left, 90)",
13
- "Move(right, 0.25)",
14
- "Move(forward, 1.0)",
15
- "Move(forward, 1.0)",
16
- "Move(forward, 0.5)",
17
- "Tilt(down, 30)",
18
- "Move(forward, 0.5)",
19
- "Move(forward, 0.25)",
20
- "Manipulate(Laptop, open)",
21
- "EndTask(success)"
22
- ]
23
- },
24
- "scene_index": 4,
25
- "target_object_types": [
26
- "Laptop",
27
- "DiningTable"
28
- ],
29
- "success_conditions": [
30
- {
31
- "type": "agent_in_room",
32
- "room_type": "Bedroom"
33
- },
34
- {
35
- "type": "agent_near_object",
36
- "object_type": "DiningTable",
37
- "distance": 1.33
38
- },
39
- {
40
- "type": "object_state",
41
- "object_type": "Laptop",
42
- "state": "isOpen",
43
- "value": true
44
- }
45
- ],
46
- "success_logic": "AND",
47
- "target_description": "Could you go and turn on the computer screen in the room? I want to check if it's damaged. Then please wait for me near any of the dining tables in the bedroom.",
48
- "max_steps": 38,
49
- "Evaluation_Type": "Conditional",
50
- "Category": "Daily Household (Kitchen/Bedroom)",
51
- "Level": "Level1 Navigation"
52
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor103/task.json DELETED
@@ -1,63 +0,0 @@
1
- {
2
- "task_id": "procthor103",
3
- "task_name": "Bring bread to living room, wait by sofa",
4
- "instruction": "I'm a bit hungry. Please bring one loaf of bread from the kitchen to the living room for me, and wait beside the sofa.",
5
- "golden_actions": {
6
- "steps": 25,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Move(left, 0.25)",
10
- "Move(left, 0.25)",
11
- "Move(left, 0.25)",
12
- "Move(left, 0.25)",
13
- "Move(forward, 0.5)",
14
- "Move(left, 0.25)",
15
- "Move(forward, 1.0)",
16
- "Move(forward, 0.5)",
17
- "Tilt(down, 30)",
18
- "Move(forward, 0.5)",
19
- "Move(forward, 0.25)",
20
- "Pick(Bread)",
21
- "Rotate(left, 90)",
22
- "Move(forward, 1.0)",
23
- "Move(forward, 1.0)",
24
- "Move(forward, 0.25)",
25
- "Move(left, 0.25)",
26
- "Move(left, 0.25)",
27
- "Move(left, 0.25)",
28
- "Move(left, 0.25)",
29
- "Move(left, 0.25)",
30
- "Move(forward, 0.5)",
31
- "Move(forward, 0.25)",
32
- "EndTask(success)"
33
- ]
34
- },
35
- "scene_index": 5,
36
- "target_object_types": [
37
- "Bread",
38
- "Sofa"
39
- ],
40
- "success_conditions": [
41
- {
42
- "type": "agent_in_room",
43
- "room_type": "LivingRoom"
44
- },
45
- {
46
- "type": "agent_near_object",
47
- "object_type": "Sofa",
48
- "distance": 1.42
49
- },
50
- {
51
- "type": "object_state",
52
- "object_type": "Bread",
53
- "state": "isPickedUp",
54
- "value": true
55
- }
56
- ],
57
- "success_logic": "AND",
58
- "target_description": "I'm a bit hungry. Please bring one loaf of bread from the kitchen to the living room for me, and wait beside the sofa.",
59
- "max_steps": 60,
60
- "Evaluation_Type": "Conditional",
61
- "Category": "Daily Household (Kitchen/Bedroom)",
62
- "Level": "Level1 Navigation"
63
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor104/task.json DELETED
@@ -1,90 +0,0 @@
1
- {
2
- "task_id": "procthor104",
3
- "task_name": "Bring candle to kitchen, wait by counter",
4
- "instruction": "I need a candle for cooking in the kitchen. Please bring one candle from the living room and wait by any counter.",
5
- "golden_actions": {
6
- "steps": 52,
7
- "actions": [
8
- "Move(forward, 1.0)",
9
- "Move(forward, 0.25)",
10
- "Move(right, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(right, 0.25)",
14
- "Move(right, 0.25)",
15
- "Move(right, 0.25)",
16
- "Move(right, 0.25)",
17
- "Move(right, 0.25)",
18
- "Move(right, 0.25)",
19
- "Move(right, 0.25)",
20
- "Move(right, 0.25)",
21
- "Move(right, 0.25)",
22
- "Move(right, 0.25)",
23
- "Move(forward, 1.0)",
24
- "Move(forward, 0.25)",
25
- "Move(right, 0.25)",
26
- "Move(right, 0.25)",
27
- "Move(forward, 1.0)",
28
- "Tilt(down, 30)",
29
- "Move(forward, 0.5)",
30
- "Pick(Candle)",
31
- "Rotate(left, 90)",
32
- "Rotate(left, 90)",
33
- "Move(right, 0.25)",
34
- "Move(right, 0.25)",
35
- "Move(right, 0.25)",
36
- "Move(right, 0.25)",
37
- "Move(right, 0.25)",
38
- "Move(right, 0.25)",
39
- "Move(right, 0.25)",
40
- "Move(right, 0.25)",
41
- "Move(right, 0.25)",
42
- "Move(right, 0.25)",
43
- "Move(right, 0.25)",
44
- "Move(forward, 1.0)",
45
- "Move(forward, 1.0)",
46
- "Move(forward, 1.0)",
47
- "Move(forward, 1.0)",
48
- "Move(forward, 1.0)",
49
- "Move(left, 0.25)",
50
- "Move(left, 0.25)",
51
- "Move(left, 0.25)",
52
- "Move(left, 0.25)",
53
- "Move(left, 0.25)",
54
- "Move(forward, 1.0)",
55
- "Move(forward, 1.0)",
56
- "Rotate(right, 90)",
57
- "Move(left, 0.25)",
58
- "Move(left, 0.25)",
59
- "EndTask(success)"
60
- ]
61
- },
62
- "scene_index": 5,
63
- "target_object_types": [
64
- "Candle",
65
- "CounterTop"
66
- ],
67
- "success_conditions": [
68
- {
69
- "type": "agent_in_room",
70
- "room_type": "Kitchen"
71
- },
72
- {
73
- "type": "agent_near_object",
74
- "object_type": "CounterTop",
75
- "distance": 1.37
76
- },
77
- {
78
- "type": "object_state",
79
- "object_type": "Candle",
80
- "state": "isPickedUp",
81
- "value": true
82
- }
83
- ],
84
- "success_logic": "AND",
85
- "target_description": "I need a candle for cooking in the kitchen. Please bring one candle from the living room and wait by any counter.",
86
- "max_steps": 114,
87
- "Evaluation_Type": "Conditional",
88
- "Category": "Daily Household (Kitchen/Bedroom)",
89
- "Level": "Level1 Navigation"
90
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor105/task.json DELETED
@@ -1,67 +0,0 @@
1
- {
2
- "task_id": "procthor105",
3
- "task_name": "Bring toilet paper holder to bedroom",
4
- "instruction": "Can you bring the empty toilet paper holder from the bathroom to the bedroom? I'll refill it with paper.",
5
- "golden_actions": {
6
- "steps": 30,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Rotate(right, 90)",
10
- "Move(right, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(forward, 1.0)",
14
- "Move(forward, 0.25)",
15
- "Move(right, 0.25)",
16
- "Move(forward, 1.0)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 0.5)",
19
- "Pick(ToiletPaper)",
20
- "Rotate(right, 90)",
21
- "Rotate(right, 90)",
22
- "Move(right, 0.25)",
23
- "Move(forward, 1.0)",
24
- "Move(forward, 1.0)",
25
- "Move(forward, 0.5)",
26
- "Move(forward, 0.25)",
27
- "Rotate(left, 90)",
28
- "Move(right, 0.25)",
29
- "Move(right, 0.25)",
30
- "Move(right, 0.25)",
31
- "Move(right, 0.25)",
32
- "Move(right, 0.25)",
33
- "Move(right, 0.25)",
34
- "Move(forward, 1.0)",
35
- "Move(forward, 1.0)",
36
- "Move(forward, 0.25)",
37
- "EndTask(success)"
38
- ]
39
- },
40
- "scene_index": 6,
41
- "target_object_types": [
42
- "ToiletPaper"
43
- ],
44
- "success_conditions": [
45
- {
46
- "type": "agent_in_room",
47
- "room_type": "Bedroom"
48
- },
49
- {
50
- "type": "object_in_room",
51
- "object_type": "ToiletPaper",
52
- "room_type": "Bedroom"
53
- },
54
- {
55
- "type": "object_state",
56
- "object_type": "ToiletPaper",
57
- "state": "isPickedUp",
58
- "value": true
59
- }
60
- ],
61
- "success_logic": "AND",
62
- "target_description": "Can you bring the empty toilet paper holder from the bathroom to the bedroom? I'll refill it with paper.",
63
- "max_steps": 70,
64
- "Evaluation_Type": "Conditional",
65
- "Category": "Daily Household (Kitchen/Bedroom)",
66
- "Level": "Level1 Navigation"
67
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor106/task.json DELETED
@@ -1,34 +0,0 @@
1
- {
2
- "task_id": "procthor106",
3
- "task_name": "Leave bathroom, go to bedroom",
4
- "instruction": "I'm going back to my room to sleep. Please come out of the bathroom and then go back to the bedroom.",
5
- "golden_actions": {
6
- "steps": 10,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Rotate(right, 90)",
10
- "Move(forward, 1.0)",
11
- "Move(forward, 0.25)",
12
- "Rotate(left, 90)",
13
- "Move(right, 0.25)",
14
- "Move(right, 0.25)",
15
- "Move(forward, 1.0)",
16
- "Move(forward, 0.25)",
17
- "EndTask(success)"
18
- ]
19
- },
20
- "scene_index": 7,
21
- "target_object_types": [],
22
- "success_conditions": [
23
- {
24
- "type": "agent_in_room",
25
- "room_type": "Bedroom"
26
- }
27
- ],
28
- "success_logic": "AND",
29
- "target_description": "I'm going back to my room to sleep. Please come out of the bathroom and then go back to the bedroom.",
30
- "max_steps": 30,
31
- "Evaluation_Type": "Conditional",
32
- "Category": "Daily Household (Kitchen/Bedroom)",
33
- "Level": "Level1 Navigation"
34
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor107/task.json DELETED
@@ -1,77 +0,0 @@
1
- {
2
- "task_id": "procthor107",
3
- "task_name": "Put bowl in kitchen, bring pen to living room",
4
- "instruction": "I'm done eating. Please put the bowl back in the kitchen and bring my pen from the kitchen to the living room.",
5
- "golden_actions": {
6
- "steps": 44,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Move(right, 0.25)",
10
- "Move(right, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(forward, 0.5)",
13
- "Pick(Bowl)",
14
- "Rotate(right, 90)",
15
- "Move(right, 0.25)",
16
- "Move(forward, 0.5)",
17
- "Move(right, 0.25)",
18
- "Move(right, 0.25)",
19
- "Move(right, 0.25)",
20
- "Move(right, 0.25)",
21
- "Move(right, 0.25)",
22
- "Move(forward, 1.0)",
23
- "Move(forward, 1.0)",
24
- "Move(forward, 0.25)",
25
- "Move(right, 0.25)",
26
- "Move(right, 0.25)",
27
- "Move(right, 0.25)",
28
- "Rotate(right, 90)",
29
- "Move(left, 0.25)",
30
- "Move(left, 0.25)",
31
- "Move(left, 0.25)",
32
- "Move(forward, 0.25)",
33
- "Place(CounterTop)",
34
- "Move(left, 0.25)",
35
- "Move(left, 0.25)",
36
- "Move(left, 0.25)",
37
- "Move(left, 0.25)",
38
- "Pick(Pen)",
39
- "Rotate(right, 90)",
40
- "Move(right, 0.25)",
41
- "Move(forward, 1.0)",
42
- "Move(forward, 0.25)",
43
- "Move(right, 0.25)",
44
- "Move(right, 0.25)",
45
- "Move(forward, 0.5)",
46
- "Move(right, 0.25)",
47
- "Move(forward, 1.0)",
48
- "Move(forward, 1.0)",
49
- "Move(forward, 0.25)",
50
- "Move(right, 0.25)",
51
- "EndTask(success)"
52
- ]
53
- },
54
- "scene_index": 11,
55
- "target_object_types": [
56
- "Bowl",
57
- "Pen"
58
- ],
59
- "success_conditions": [
60
- {
61
- "type": "object_in_room",
62
- "object_type": "Bowl",
63
- "room_type": "Kitchen"
64
- },
65
- {
66
- "type": "object_in_room",
67
- "object_type": "Pen",
68
- "room_type": "LivingRoom"
69
- }
70
- ],
71
- "success_logic": "AND",
72
- "target_description": "I'm done eating. Please put the bowl back in the kitchen and bring my pen from the kitchen to the living room.",
73
- "max_steps": 98,
74
- "Evaluation_Type": "Conditional",
75
- "Category": "Daily Household (Kitchen/Bedroom)",
76
- "Level": "Level1 Navigation"
77
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor108/task.json DELETED
@@ -1,55 +0,0 @@
1
- {
2
- "task_id": "procthor108",
3
- "task_name": "Go to bedroom",
4
- "instruction": "Please go to the bedroom.",
5
- "golden_actions": {
6
- "steps": 31,
7
- "actions": [
8
- "Rotate(left, 90)",
9
- "Rotate(left, 90)",
10
- "Move(right, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(right, 0.25)",
14
- "Move(right, 0.25)",
15
- "Move(right, 0.25)",
16
- "Move(forward, 1.0)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 1.0)",
19
- "Rotate(right, 90)",
20
- "Move(left, 0.25)",
21
- "Move(left, 0.25)",
22
- "Move(left, 0.25)",
23
- "Move(left, 0.25)",
24
- "Move(left, 0.25)",
25
- "Move(left, 0.25)",
26
- "Move(forward, 1.0)",
27
- "Move(forward, 1.0)",
28
- "Move(forward, 1.0)",
29
- "Move(forward, 1.0)",
30
- "Move(forward, 0.5)",
31
- "Move(forward, 0.25)",
32
- "Rotate(right, 90)",
33
- "Move(left, 0.25)",
34
- "Move(left, 0.25)",
35
- "Move(left, 0.25)",
36
- "Move(left, 0.25)",
37
- "Move(left, 0.25)",
38
- "EndTask(success)"
39
- ]
40
- },
41
- "scene_index": 15,
42
- "target_object_types": [],
43
- "success_conditions": [
44
- {
45
- "type": "agent_in_room",
46
- "room_type": "Bedroom"
47
- }
48
- ],
49
- "success_logic": "AND",
50
- "target_description": "Please go to the bedroom.",
51
- "max_steps": 72,
52
- "Evaluation_Type": "Conditional",
53
- "Category": "Daily Household (Kitchen/Bedroom)",
54
- "Level": "Level1 Navigation"
55
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor109/init.json DELETED
@@ -1,16 +0,0 @@
1
- {
2
- "scene_index": 15,
3
- "actions": [
4
- "Tilt(down, 30)",
5
- "Move(left, 0.25)",
6
- "Move(left, 0.25)",
7
- "Move(forward, 0.25)",
8
- "Move(forward, 0.25)",
9
- "Move(forward, 0.25)",
10
- "Move(forward, 0.25)",
11
- "Move(left, 0.25)",
12
- "Move(left, 0.25)",
13
- "Move(forward, 0.25)",
14
- "EndTask(success)"
15
- ]
16
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor109/task.json DELETED
@@ -1,68 +0,0 @@
1
- {
2
- "task_id": "procthor109",
3
- "task_name": "Bring newspaper to bathroom",
4
- "instruction": "I want to read the newspaper when I use the bathroom. Please bring the newspaper to me in the bathroom",
5
- "golden_actions": {
6
- "steps": 31,
7
- "actions": [
8
- "Move(forward, 0.5)",
9
- "Move(left, 0.25)",
10
- "Move(left, 0.25)",
11
- "Move(left, 0.25)",
12
- "Pick(Newspaper)",
13
- "Rotate(right, 90)",
14
- "Rotate(right, 90)",
15
- "Move(left, 0.25)",
16
- "Move(left, 0.25)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 1.0)",
19
- "Move(forward, 1.0)",
20
- "Move(forward, 1.0)",
21
- "Move(forward, 1.0)",
22
- "Move(forward, 0.5)",
23
- "Rotate(right, 90)",
24
- "Move(left, 0.25)",
25
- "Move(left, 0.25)",
26
- "Move(left, 0.25)",
27
- "Move(forward, 1.0)",
28
- "Move(forward, 1.0)",
29
- "Move(forward, 1.0)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 1.0)",
32
- "Move(forward, 0.25)",
33
- "Rotate(left, 90)",
34
- "Move(right, 0.25)",
35
- "Move(forward, 1.0)",
36
- "Move(forward, 0.5)",
37
- "Move(forward, 0.25)",
38
- "EndTask(success)"
39
- ]
40
- },
41
- "scene_index": 15,
42
- "target_object_types": [
43
- "Newspaper"
44
- ],
45
- "success_conditions": [
46
- {
47
- "type": "agent_in_room",
48
- "room_type": "Bathroom"
49
- },
50
- {
51
- "type": "object_in_room",
52
- "object_type": "Newspaper",
53
- "room_type": "Bathroom"
54
- },
55
- {
56
- "type": "object_state",
57
- "object_type": "Newspaper",
58
- "state": "isPickedUp",
59
- "value": true
60
- }
61
- ],
62
- "success_logic": "AND",
63
- "target_description": "I want to read the newspaper when I use the bathroom. Please bring the newspaper to me in the bathroom",
64
- "max_steps": 72,
65
- "Evaluation_Type": "Conditional",
66
- "Category": "Daily Household (Kitchen/Bedroom)",
67
- "Level": "Level1 Navigation"
68
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor110/task.json DELETED
@@ -1,43 +0,0 @@
1
- {
2
- "task_id": "procthor110",
3
- "task_name": "Locate bedroom and enter",
4
- "instruction": "Can you locate my bedroom? If so, please go ahead and step inside.",
5
- "golden_actions": {
6
- "steps": 19,
7
- "actions": [
8
- "Move(right, 0.25)",
9
- "Move(right, 0.25)",
10
- "Move(forward, 1.0)",
11
- "Move(forward, 1.0)",
12
- "Move(forward, 1.0)",
13
- "Move(forward, 1.0)",
14
- "Move(forward, 0.25)",
15
- "Rotate(right, 90)",
16
- "Move(left, 0.25)",
17
- "Move(left, 0.25)",
18
- "Move(left, 0.25)",
19
- "Move(left, 0.25)",
20
- "Move(left, 0.25)",
21
- "Move(forward, 1.0)",
22
- "Move(forward, 1.0)",
23
- "Move(forward, 0.5)",
24
- "Move(forward, 0.25)",
25
- "Rotate(right, 90)",
26
- "EndTask(success)"
27
- ]
28
- },
29
- "scene_index": 17,
30
- "target_object_types": [],
31
- "success_conditions": [
32
- {
33
- "type": "agent_in_room",
34
- "room_type": "Bedroom"
35
- }
36
- ],
37
- "success_logic": "AND",
38
- "target_description": "Can you locate my bedroom? If so, please go ahead and step inside.",
39
- "max_steps": 48,
40
- "Evaluation_Type": "Conditional",
41
- "Category": "Daily Household (Kitchen/Bedroom)",
42
- "Level": "Level1 Navigation"
43
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor111/task.json DELETED
@@ -1,55 +0,0 @@
1
- {
2
- "task_id": "procthor111",
3
- "task_name": "Bring apple to bedroom dresser",
4
- "instruction": "An apple a day keeps the doctor away. Please grab one apple from the kitchen, bring it to my bedroom, and put it on any dresser. I'll eat it later.",
5
- "golden_actions": {
6
- "steps": 21,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Move(left, 0.25)",
10
- "Move(forward, 1.0)",
11
- "Move(forward, 1.0)",
12
- "Move(forward, 1.0)",
13
- "Move(forward, 1.0)",
14
- "Move(left, 0.25)",
15
- "Move(left, 0.25)",
16
- "Move(forward, 0.5)",
17
- "Pick(Apple)",
18
- "Rotate(right, 90)",
19
- "Rotate(right, 90)",
20
- "Move(forward, 1.0)",
21
- "Move(forward, 1.0)",
22
- "Move(forward, 0.5)",
23
- "Rotate(right, 90)",
24
- "Move(left, 0.25)",
25
- "Move(left, 0.25)",
26
- "Move(forward, 0.5)",
27
- "Place(Dresser)",
28
- "EndTask(success)"
29
- ]
30
- },
31
- "scene_index": 19,
32
- "target_object_types": [
33
- "Apple",
34
- "Dresser"
35
- ],
36
- "success_conditions": [
37
- {
38
- "type": "object_in_room",
39
- "object_type": "Apple",
40
- "room_type": "Bedroom"
41
- },
42
- {
43
- "type": "object_in_receptacle",
44
- "object_type": "Apple",
45
- "receptacle_type": "Dresser",
46
- "value": "true"
47
- }
48
- ],
49
- "success_logic": "AND",
50
- "target_description": "An apple a day keeps the doctor away. Please grab one apple from the kitchen, bring it to my bedroom, and put it on any dresser. I'll eat it later.",
51
- "max_steps": 52,
52
- "Evaluation_Type": "Conditional",
53
- "Category": "Daily Household (Kitchen/Bedroom)",
54
- "Level": "Level1 Navigation"
55
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor112/task.json DELETED
@@ -1,79 +0,0 @@
1
- {
2
- "task_id": "procthor112",
3
- "task_name": "Turn on phone, bring to bathroom",
4
- "instruction": "Can you turn on one phone and bring it to the bathroom? I want to use it while I'm in there.",
5
- "golden_actions": {
6
- "steps": 46,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Move(forward, 1.0)",
10
- "Move(forward, 0.5)",
11
- "Move(forward, 0.25)",
12
- "Tilt(down, 30)",
13
- "Move(forward, 1.0)",
14
- "Move(left, 0.25)",
15
- "Move(left, 0.25)",
16
- "Move(left, 0.25)",
17
- "Move(forward, 0.25)",
18
- "ChangeState(CellPhone, on)",
19
- "Pick(CellPhone)",
20
- "Rotate(right, 90)",
21
- "Rotate(right, 90)",
22
- "Move(left, 0.25)",
23
- "Move(left, 0.25)",
24
- "Move(left, 0.25)",
25
- "Move(left, 0.25)",
26
- "Move(left, 0.25)",
27
- "Move(forward, 1.0)",
28
- "Move(forward, 1.0)",
29
- "Move(forward, 0.5)",
30
- "Move(forward, 0.25)",
31
- "Rotate(right, 90)",
32
- "Move(left, 0.25)",
33
- "Move(left, 0.25)",
34
- "Move(forward, 1.0)",
35
- "Move(left, 0.25)",
36
- "Move(forward, 1.0)",
37
- "Move(forward, 1.0)",
38
- "Move(forward, 0.25)",
39
- "Rotate(left, 90)",
40
- "Move(right, 0.25)",
41
- "Move(right, 0.25)",
42
- "Move(right, 0.25)",
43
- "Move(forward, 1.0)",
44
- "Move(forward, 1.0)",
45
- "Move(forward, 1.0)",
46
- "Move(forward, 0.5)",
47
- "Move(forward, 0.25)",
48
- "Rotate(left, 90)",
49
- "Move(forward, 1.0)",
50
- "Move(forward, 1.0)",
51
- "Move(forward, 0.25)",
52
- "Rotate(right, 90)",
53
- "EndTask(success)"
54
- ]
55
- },
56
- "scene_index": 19,
57
- "target_object_types": [
58
- "CellPhone"
59
- ],
60
- "success_conditions": [
61
- {
62
- "type": "object_in_room",
63
- "object_type": "CellPhone",
64
- "room_type": "Bathroom"
65
- },
66
- {
67
- "type": "object_state",
68
- "object_type": "CellPhone",
69
- "state": "isToggled",
70
- "value": true
71
- }
72
- ],
73
- "success_logic": "AND",
74
- "target_description": "Can you turn on one phone and bring it to the bathroom? I want to use it while I'm in there.",
75
- "max_steps": 102,
76
- "Evaluation_Type": "Conditional",
77
- "Category": "Daily Household (Kitchen/Bedroom)",
78
- "Level": "Level1 Navigation"
79
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor113/init.json DELETED
@@ -1,13 +0,0 @@
1
- {
2
- "scene_index": 22,
3
- "actions": [
4
- "Rotate(right, 90)",
5
- "Rotate(right, 90)",
6
- "Tilt(down, 30)",
7
- "Move(right, 0.25)",
8
- "Move(right, 0.25)",
9
- "Move(right, 0.25)",
10
- "Move(forward, 0.25)",
11
- "EndTask(success)"
12
- ]
13
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor113/task.json DELETED
@@ -1,54 +0,0 @@
1
- {
2
- "task_id": "procthor113",
3
- "task_name": "Bring toilet paper to kitchen",
4
- "instruction": "Can you see any toilet paper? If so, please bring one roll to the kitchen; the kitchen is out of paper.",
5
- "golden_actions": {
6
- "steps": 21,
7
- "actions": [
8
- "Pick(ToiletPaper)",
9
- "Rotate(right, 90)",
10
- "Rotate(right, 90)",
11
- "Move(right, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(right, 0.25)",
14
- "Move(right, 0.25)",
15
- "Move(right, 0.25)",
16
- "Move(right, 0.25)",
17
- "Move(right, 0.25)",
18
- "Move(forward, 1.0)",
19
- "Move(forward, 1.0)",
20
- "Move(forward, 0.5)",
21
- "Move(right, 0.25)",
22
- "Rotate(right, 90)",
23
- "Move(left, 0.25)",
24
- "Move(left, 0.25)",
25
- "Move(left, 0.25)",
26
- "Move(forward, 1.0)",
27
- "Move(forward, 1.0)",
28
- "EndTask(success)"
29
- ]
30
- },
31
- "scene_index": 22,
32
- "target_object_types": [
33
- "ToiletPaper"
34
- ],
35
- "success_conditions": [
36
- {
37
- "type": "object_in_room",
38
- "object_type": "ToiletPaper",
39
- "room_type": "Kitchen"
40
- },
41
- {
42
- "type": "object_state",
43
- "object_type": "ToiletPaper",
44
- "state": "isPickedUp",
45
- "value": true
46
- }
47
- ],
48
- "success_logic": "AND",
49
- "target_description": "Can you see any toilet paper? If so, please bring one roll to the kitchen; the kitchen is out of paper.",
50
- "max_steps": 52,
51
- "Evaluation_Type": "Conditional",
52
- "Category": "Daily Household (Kitchen/Bedroom)",
53
- "Level": "Level1 Navigation"
54
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor114/task.json DELETED
@@ -1,51 +0,0 @@
1
- {
2
- "task_id": "procthor114",
3
- "task_name": "Wait at kitchen table",
4
- "instruction": "I'll go eat soon. Please wait for me at any kitchen table first.",
5
- "golden_actions": {
6
- "steps": 24,
7
- "actions": [
8
- "Move(left, 0.25)",
9
- "Move(forward, 0.25)",
10
- "Move(left, 0.25)",
11
- "Move(forward, 0.25)",
12
- "Move(left, 0.25)",
13
- "Move(forward, 1.0)",
14
- "Move(forward, 1.0)",
15
- "Move(forward, 1.0)",
16
- "Move(forward, 0.25)",
17
- "Rotate(left, 90)",
18
- "Move(right, 0.25)",
19
- "Move(right, 0.25)",
20
- "Move(right, 0.25)",
21
- "Move(right, 0.25)",
22
- "Move(forward, 1.0)",
23
- "Move(forward, 0.25)",
24
- "Move(right, 0.25)",
25
- "Move(right, 0.25)",
26
- "Move(right, 0.25)",
27
- "Move(forward, 0.5)",
28
- "Move(forward, 0.25)",
29
- "Tilt(down, 30)",
30
- "Move(forward, 0.5)",
31
- "EndTask(success)"
32
- ]
33
- },
34
- "scene_index": 127,
35
- "target_object_types": [
36
- "DiningTable"
37
- ],
38
- "success_conditions": [
39
- {
40
- "type": "agent_near_object",
41
- "object_type": "DiningTable",
42
- "distance": 1.44
43
- }
44
- ],
45
- "success_logic": "AND",
46
- "target_description": "I'll go eat soon. Please wait for me at any kitchen table first.",
47
- "max_steps": 58,
48
- "Evaluation_Type": "Conditional",
49
- "Category": "Daily Household (Kitchen/Bedroom)",
50
- "Level": "Level1 Navigation"
51
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor115/task.json DELETED
@@ -1,74 +0,0 @@
1
- {
2
- "task_id": "procthor115",
3
- "task_name": "Bring book to kitchen",
4
- "instruction": "Please take one book from the bedroom to the kitchen. It might help me with cooking.",
5
- "golden_actions": {
6
- "steps": 42,
7
- "actions": [
8
- "Tilt(down, 30)",
9
- "Move(left, 0.25)",
10
- "Move(left, 0.25)",
11
- "Move(left, 0.25)",
12
- "Move(left, 0.25)",
13
- "Move(forward, 1.0)",
14
- "Move(forward, 1.0)",
15
- "Move(forward, 0.5)",
16
- "Rotate(right, 90)",
17
- "Move(left, 0.25)",
18
- "Move(left, 0.25)",
19
- "Move(left, 0.25)",
20
- "Move(left, 0.25)",
21
- "Move(left, 0.25)",
22
- "Move(forward, 1.0)",
23
- "Move(forward, 0.5)",
24
- "Move(forward, 0.25)",
25
- "Move(left, 0.25)",
26
- "Move(left, 0.25)",
27
- "Move(forward, 1.0)",
28
- "Move(forward, 0.5)",
29
- "Pick(Book)",
30
- "Rotate(right, 90)",
31
- "Rotate(right, 90)",
32
- "Move(right, 0.25)",
33
- "Move(forward, 1.0)",
34
- "Move(forward, 0.25)",
35
- "Rotate(left, 90)",
36
- "Move(right, 0.25)",
37
- "Move(right, 0.25)",
38
- "Move(right, 0.25)",
39
- "Move(right, 0.25)",
40
- "Move(right, 0.25)",
41
- "Move(right, 0.25)",
42
- "Move(right, 0.25)",
43
- "Move(right, 0.25)",
44
- "Move(forward, 1.0)",
45
- "Move(forward, 1.0)",
46
- "Move(forward, 1.0)",
47
- "Move(forward, 1.0)",
48
- "Move(forward, 0.25)",
49
- "EndTask(success)"
50
- ]
51
- },
52
- "scene_index": 31,
53
- "target_object_types": [
54
- "Book"
55
- ],
56
- "success_conditions": [
57
- {
58
- "type": "agent_in_room",
59
- "room_type": "Kitchen"
60
- },
61
- {
62
- "type": "object_state",
63
- "object_type": "Book",
64
- "state": "isPickedUp",
65
- "value": true
66
- }
67
- ],
68
- "success_logic": "AND",
69
- "target_description": "Please take one book from the bedroom to the kitchen. It might help me with cooking.",
70
- "max_steps": 94,
71
- "Evaluation_Type": "Conditional",
72
- "Category": "Daily Household (Kitchen/Bedroom)",
73
- "Level": "Level1 Navigation"
74
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor116/init.json DELETED
@@ -1,80 +0,0 @@
1
- {
2
- "scene_index": 31,
3
- "actions": [
4
- "Tilt(down, 30)",
5
- "Move(left, 0.25)",
6
- "Move(left, 0.25)",
7
- "Move(left, 0.25)",
8
- "Move(forward, 0.25)",
9
- "Move(forward, 0.25)",
10
- "Move(forward, 0.25)",
11
- "Move(forward, 0.25)",
12
- "Move(forward, 0.25)",
13
- "Move(forward, 0.25)",
14
- "Move(forward, 0.25)",
15
- "Move(forward, 0.25)",
16
- "Move(forward, 0.25)",
17
- "Move(forward, 0.25)",
18
- "Move(forward, 0.25)",
19
- "Rotate(right, 90)",
20
- "Rotate(left, 90)",
21
- "Rotate(left, 90)",
22
- "Move(right, 0.25)",
23
- "Move(right, 0.25)",
24
- "Move(right, 0.25)",
25
- "Move(right, 0.25)",
26
- "Move(right, 0.25)",
27
- "Move(right, 0.25)",
28
- "Move(right, 0.25)",
29
- "Move(right, 0.25)",
30
- "Move(forward, 0.25)",
31
- "Move(forward, 0.25)",
32
- "Move(forward, 0.25)",
33
- "Move(forward, 0.25)",
34
- "Move(forward, 0.25)",
35
- "Move(forward, 0.25)",
36
- "Move(forward, 0.25)",
37
- "Move(forward, 0.25)",
38
- "Move(forward, 0.25)",
39
- "Move(forward, 0.25)",
40
- "Move(forward, 0.25)",
41
- "Move(forward, 0.25)",
42
- "Move(forward, 0.25)",
43
- "DirtyObject(Bed)",
44
- "Rotate(right, 90)",
45
- "Rotate(right, 90)",
46
- "Move(forward, 0.25)",
47
- "Move(forward, 0.25)",
48
- "Move(forward, 0.25)",
49
- "Move(forward, 0.25)",
50
- "Move(forward, 0.25)",
51
- "Move(forward, 0.25)",
52
- "Move(forward, 0.25)",
53
- "Move(forward, 0.25)",
54
- "Move(forward, 0.25)",
55
- "Move(forward, 0.25)",
56
- "Move(forward, 0.25)",
57
- "Rotate(right, 90)",
58
- "Move(left, 0.25)",
59
- "Move(forward, 0.25)",
60
- "Move(forward, 0.25)",
61
- "Move(forward, 0.25)",
62
- "Move(forward, 0.25)",
63
- "Move(forward, 0.25)",
64
- "Move(forward, 0.25)",
65
- "Move(forward, 0.25)",
66
- "Move(forward, 0.25)",
67
- "Move(forward, 0.25)",
68
- "Move(forward, 0.25)",
69
- "Move(forward, 0.25)",
70
- "Move(forward, 0.25)",
71
- "Move(forward, 0.25)",
72
- "Move(forward, 0.25)",
73
- "Rotate(left, 90)",
74
- "Rotate(left, 90)",
75
- "Move(backward, 0.25)",
76
- "Move(backward, 0.25)",
77
- "Move(backward, 0.25)",
78
- "EndTask(success)"
79
- ]
80
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor116/task.json DELETED
@@ -1,58 +0,0 @@
1
- {
2
- "task_id": "procthor116",
3
- "task_name": "Clean bed, then go to kitchen",
4
- "instruction": "As my robot, please clean a bed before going to sleep, then leave my bedroom and go to the kitchen.",
5
- "golden_actions": {
6
- "steps": 26,
7
- "actions": [
8
- "Move(forward, 1.0)",
9
- "Move(forward, 1.0)",
10
- "Move(forward, 1.0)",
11
- "Move(forward, 1.0)",
12
- "Rotate(left, 90)",
13
- "Move(right, 0.25)",
14
- "Move(right, 0.25)",
15
- "Move(forward, 1.0)",
16
- "Move(forward, 1.0)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 0.5)",
19
- "Move(forward, 0.25)",
20
- "Manipulate(Bed, clean)",
21
- "Rotate(left, 90)",
22
- "Rotate(left, 90)",
23
- "Move(forward, 1.0)",
24
- "Move(forward, 1.0)",
25
- "Move(forward, 1.0)",
26
- "Move(forward, 0.5)",
27
- "Rotate(right, 90)",
28
- "Move(left, 0.25)",
29
- "Move(forward, 1.0)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 1.0)",
32
- "Move(forward, 0.5)",
33
- "EndTask(success)"
34
- ]
35
- },
36
- "scene_index": 31,
37
- "target_object_types": [
38
- "Bed"
39
- ],
40
- "success_conditions": [
41
- {
42
- "type": "agent_in_room",
43
- "room_type": "Kitchen"
44
- },
45
- {
46
- "type": "object_state",
47
- "object_type": "Bed",
48
- "state": "isDirty",
49
- "value": false
50
- }
51
- ],
52
- "success_logic": "AND",
53
- "target_description": "As my robot, please clean a bed before going to sleep, then leave my bedroom and go to the kitchen.",
54
- "max_steps": 62,
55
- "Evaluation_Type": "Conditional",
56
- "Category": "Daily Household (Kitchen/Bedroom)",
57
- "Level": "Level1 Navigation"
58
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor117/init.json DELETED
@@ -1,30 +0,0 @@
1
- {
2
- "scene_index": 35,
3
- "actions": [
4
- "Tilt(down, 30)",
5
- "Rotate(right, 90)",
6
- "Move(forward, 0.25)",
7
- "Move(forward, 0.25)",
8
- "Move(forward, 0.25)",
9
- "Move(forward, 0.25)",
10
- "Move(forward, 0.25)",
11
- "Move(forward, 0.25)",
12
- "Move(forward, 0.25)",
13
- "Move(left, 0.25)",
14
- "Move(left, 0.25)",
15
- "Move(left, 0.25)",
16
- "Move(forward, 0.25)",
17
- "Move(forward, 0.25)",
18
- "Move(forward, 0.25)",
19
- "Move(forward, 0.25)",
20
- "Move(forward, 0.25)",
21
- "Rotate(right, 90)",
22
- "Move(left, 0.25)",
23
- "Rotate(right, 90)",
24
- "Move(right, 0.25)",
25
- "Move(forward, 0.25)",
26
- "Move(forward, 0.25)",
27
- "Move(forward, 0.25)",
28
- "EndTask(success)"
29
- ]
30
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor117/task.json DELETED
@@ -1,81 +0,0 @@
1
- {
2
- "task_id": "procthor117",
3
- "task_name": "Hide watch on counter, go to bedroom",
4
- "instruction": "I'm just kidding. Please hide the watch on the kitchen counter and then quickly go to the bedroom.",
5
- "golden_actions": {
6
- "steps": 44,
7
- "actions": [
8
- "Pick(Watch)",
9
- "Rotate(left, 90)",
10
- "Move(forward, 0.5)",
11
- "Move(right, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(forward, 1.0)",
14
- "Move(forward, 0.5)",
15
- "Move(forward, 0.25)",
16
- "Rotate(left, 90)",
17
- "Move(right, 0.25)",
18
- "Move(forward, 1.0)",
19
- "Move(forward, 1.0)",
20
- "Move(right, 0.25)",
21
- "Move(right, 0.25)",
22
- "Move(right, 0.25)",
23
- "Move(right, 0.25)",
24
- "Move(right, 0.25)",
25
- "Move(forward, 1.0)",
26
- "Move(forward, 1.0)",
27
- "Move(forward, 0.25)",
28
- "Rotate(left, 90)",
29
- "Move(right, 0.25)",
30
- "Move(right, 0.25)",
31
- "Move(forward, 1.0)",
32
- "Move(forward, 0.5)",
33
- "Move(forward, 0.25)",
34
- "Move(left, 0.25)",
35
- "Move(left, 0.25)",
36
- "Move(forward, 0.5)",
37
- "Move(left, 0.25)",
38
- "Place(CounterTop)",
39
- "Rotate(right, 90)",
40
- "Rotate(right, 90)",
41
- "Move(left, 0.25)",
42
- "Move(left, 0.25)",
43
- "Move(left, 0.25)",
44
- "Move(forward, 1.0)",
45
- "Move(forward, 1.0)",
46
- "Move(forward, 0.25)",
47
- "Rotate(right, 90)",
48
- "Move(forward, 1.0)",
49
- "Move(forward, 0.5)",
50
- "Move(forward, 0.25)",
51
- "EndTask(success)"
52
- ]
53
- },
54
- "scene_index": 35,
55
- "target_object_types": [
56
- "Watch"
57
- ],
58
- "success_conditions": [
59
- {
60
- "type": "agent_in_room",
61
- "room_type": "Bedroom"
62
- },
63
- {
64
- "type": "object_in_room",
65
- "object_type": "Watch",
66
- "room_type": "Kitchen"
67
- },
68
- {
69
- "type": "object_in_receptacle",
70
- "object_type": "Watch",
71
- "receptacle_type": "CounterTop",
72
- "value": "true"
73
- }
74
- ],
75
- "success_logic": "AND",
76
- "target_description": "I'm just kidding. Please hide the watch on the kitchen counter and then quickly go to the bedroom.",
77
- "max_steps": 98,
78
- "Evaluation_Type": "Conditional",
79
- "Category": "Daily Household (Kitchen/Bedroom)",
80
- "Level": "Level1 Navigation"
81
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor118/init.json DELETED
@@ -1,30 +0,0 @@
1
- {
2
- "scene_index": 35,
3
- "actions": [
4
- "Tilt(down, 30)",
5
- "Rotate(right, 90)",
6
- "Move(forward, 0.25)",
7
- "Move(forward, 0.25)",
8
- "Move(forward, 0.25)",
9
- "Move(forward, 0.25)",
10
- "Move(forward, 0.25)",
11
- "Move(forward, 0.25)",
12
- "Move(forward, 0.25)",
13
- "Move(left, 0.25)",
14
- "Move(left, 0.25)",
15
- "Move(left, 0.25)",
16
- "Move(forward, 0.25)",
17
- "Move(forward, 0.25)",
18
- "Move(forward, 0.25)",
19
- "Move(forward, 0.25)",
20
- "Move(forward, 0.25)",
21
- "Rotate(right, 90)",
22
- "Move(left, 0.25)",
23
- "Rotate(right, 90)",
24
- "Move(right, 0.25)",
25
- "Move(forward, 0.25)",
26
- "Move(forward, 0.25)",
27
- "Move(forward, 0.25)",
28
- "EndTask(success)"
29
- ]
30
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor118/task.json DELETED
@@ -1,40 +0,0 @@
1
- {
2
- "task_id": "procthor118",
3
- "task_name": "Break vase, go to bathroom",
4
- "instruction": "Please break the vase, then quickly go to the bathroom.",
5
- "golden_actions": {
6
- "steps": 8,
7
- "actions": [
8
- "Manipulate(Vase, break)",
9
- "Rotate(right, 90)",
10
- "Move(right, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(forward, 1.0)",
13
- "Move(forward, 1.0)",
14
- "Move(forward, 0.5)",
15
- "EndTask(success)"
16
- ]
17
- },
18
- "scene_index": 35,
19
- "target_object_types": [
20
- "Vase"
21
- ],
22
- "success_conditions": [
23
- {
24
- "type": "agent_in_room",
25
- "room_type": "Bathroom"
26
- },
27
- {
28
- "type": "object_state",
29
- "object_type": "Vase",
30
- "state": "isBroken",
31
- "value": true
32
- }
33
- ],
34
- "success_logic": "AND",
35
- "target_description": "Please break the vase, then quickly go to the bathroom.",
36
- "max_steps": 26,
37
- "Evaluation_Type": "Conditional",
38
- "Category": "Daily Household (Kitchen/Bedroom)",
39
- "Level": "Level1 Navigation"
40
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor119/task.json DELETED
@@ -1,89 +0,0 @@
1
- {
2
- "task_id": "procthor119",
3
- "task_name": "Grab baseball bat, wait in living room",
4
- "instruction": "My friend is coming over to hang out. Please grab a baseball bat for me and then wait for him in the living room.",
5
- "golden_actions": {
6
- "steps": 52,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Move(right, 0.25)",
10
- "Move(right, 0.25)",
11
- "Move(right, 0.25)",
12
- "Move(right, 0.25)",
13
- "Move(right, 0.25)",
14
- "Tilt(down, 30)",
15
- "Move(forward, 1.0)",
16
- "Move(right, 0.25)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 1.0)",
19
- "Move(forward, 0.25)",
20
- "Move(left, 0.25)",
21
- "Move(left, 0.25)",
22
- "Move(left, 0.25)",
23
- "Move(left, 0.25)",
24
- "Pick(BaseballBat)",
25
- "Move(forward, 1.0)",
26
- "Rotate(right, 90)",
27
- "Move(forward, 0.25)",
28
- "Move(left, 0.25)",
29
- "Move(left, 0.25)",
30
- "Move(forward, 1.0)",
31
- "Move(forward, 1.0)",
32
- "Move(forward, 1.0)",
33
- "Rotate(right, 90)",
34
- "Move(left, 0.25)",
35
- "Move(left, 0.25)",
36
- "Move(forward, 1.0)",
37
- "Move(forward, 0.25)",
38
- "Move(left, 0.25)",
39
- "Move(left, 0.25)",
40
- "Move(left, 0.25)",
41
- "Move(forward, 0.5)",
42
- "Move(forward, 0.25)",
43
- "Rotate(left, 90)",
44
- "Move(right, 0.25)",
45
- "Move(right, 0.25)",
46
- "Move(forward, 0.25)",
47
- "Move(right, 0.25)",
48
- "Move(forward, 0.5)",
49
- "Move(forward, 0.25)",
50
- "Move(right, 0.25)",
51
- "Move(forward, 1.0)",
52
- "Move(forward, 0.5)",
53
- "Rotate(left, 90)",
54
- "Move(right, 0.25)",
55
- "Move(right, 0.25)",
56
- "Move(forward, 1.0)",
57
- "Move(forward, 1.0)",
58
- "Move(forward, 0.25)",
59
- "EndTask(success)"
60
- ]
61
- },
62
- "scene_index": 93,
63
- "target_object_types": [
64
- "BaseballBat"
65
- ],
66
- "success_conditions": [
67
- {
68
- "type": "agent_in_room",
69
- "room_type": "LivingRoom"
70
- },
71
- {
72
- "type": "object_state",
73
- "object_type": "BaseballBat",
74
- "state": "isPickedUp",
75
- "value": true
76
- },
77
- {
78
- "type": "object_in_room",
79
- "object_type": "BaseballBat",
80
- "room_type": "LivingRoom"
81
- }
82
- ],
83
- "success_logic": "AND",
84
- "target_description": "My friend is coming over to hang out. Please grab a baseball bat for me and then wait for him in the living room.",
85
- "max_steps": 114,
86
- "Evaluation_Type": "Conditional",
87
- "Category": "Daily Household (Kitchen/Bedroom)",
88
- "Level": "Level1 Navigation"
89
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor200/task.json DELETED
@@ -1,63 +0,0 @@
1
- {
2
- "task_id": "procthor200",
3
- "task_name": "Slice tomato, take piece to kitchen table",
4
- "instruction": "I'd like to have some fresh snacks. Please go to the kitchen, open the refrigerator, cut the tomatoes into chunks, close the refrigerator, and then take one piece to a table in the kitchen.",
5
- "golden_actions": {
6
- "steps": 12,
7
- "actions": [
8
- "Rotate(left, 90)",
9
- "Move(forward, 0.5)",
10
- "Move(forward, 0.25)",
11
- "Manipulate(Fridge, open)",
12
- "Manipulate(Tomato, slice)",
13
- "Pick(Tomato)",
14
- "Manipulate(Fridge, close)",
15
- "Rotate(right, 90)",
16
- "Rotate(right, 90)",
17
- "Move(forward, 1.0)",
18
- "Move(forward, 0.25)",
19
- "EndTask(success)"
20
- ]
21
- },
22
- "scene_index": 151,
23
- "target_object_types": [
24
- "Tomato",
25
- "Fridge",
26
- "DiningTable"
27
- ],
28
- "success_conditions": [
29
- {
30
- "type": "object_state",
31
- "object_type": "Tomato",
32
- "state": "isSliced",
33
- "value": true
34
- },
35
- {
36
- "type": "object_state",
37
- "object_type": "Tomato",
38
- "state": "isPickedUp",
39
- "value": true
40
- },
41
- {
42
- "type": "object_state",
43
- "object_type": "Fridge",
44
- "state": "isOpen",
45
- "value": false
46
- },
47
- {
48
- "type": "agent_in_room",
49
- "room_type": "Kitchen"
50
- },
51
- {
52
- "type": "agent_near_object",
53
- "object_type": "DiningTable",
54
- "distance": 1.5
55
- }
56
- ],
57
- "success_logic": "AND",
58
- "target_description": "I'd like to have some fresh snacks. Please go to the kitchen, open the refrigerator, cut the tomatoes into chunks, close the refrigerator, and then take one piece to a table in the kitchen.",
59
- "max_steps": 34,
60
- "Evaluation_Type": "Conditional",
61
- "Category": "Daily Household (Kitchen/Bedroom)",
62
- "Level": "Level3 Hybrid"
63
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
procthor/tasks/procthor201/task.json DELETED
@@ -1,75 +0,0 @@
1
- {
2
- "task_id": "procthor201",
3
- "task_name": "Turn off floor lamp, tidy bed, turn on TV",
4
- "instruction": "I'm getting ready to sleep. I'd like to lie in bed and watch some TV before I go to sleep. Please go to the living room and turn off one floor lamp. Then, go to the bedroom, tidy up the bed, and turn on the TV for me.",
5
- "golden_actions": {
6
- "steps": 33,
7
- "actions": [
8
- "Rotate(right, 90)",
9
- "Rotate(right, 90)",
10
- "Move(left, 0.25)",
11
- "Move(left, 0.25)",
12
- "Move(forward, 1.0)",
13
- "Move(forward, 0.5)",
14
- "Move(forward, 0.25)",
15
- "Rotate(right, 90)",
16
- "Move(left, 0.25)",
17
- "Move(left, 0.25)",
18
- "Move(forward, 1.0)",
19
- "Move(forward, 1.0)",
20
- "ChangeState(FloorLamp, off)",
21
- "Rotate(right, 90)",
22
- "Rotate(right, 90)",
23
- "Move(forward, 1.0)",
24
- "Move(forward, 0.5)",
25
- "Move(forward, 0.25)",
26
- "Move(right, 0.25)",
27
- "Move(right, 0.25)",
28
- "Move(forward, 0.5)",
29
- "Move(forward, 0.25)",
30
- "Move(right, 0.25)",
31
- "Move(forward, 1.0)",
32
- "Move(forward, 1.0)",
33
- "Move(forward, 0.5)",
34
- "Manipulate(Bed, clean)",
35
- "Rotate(left, 90)",
36
- "Move(forward, 1.0)",
37
- "Move(forward, 1.0)",
38
- "Move(forward, 0.5)",
39
- "ChangeState(Television, on)",
40
- "EndTask(success)"
41
- ]
42
- },
43
- "scene_index": 152,
44
- "target_object_types": [
45
- "Television",
46
- "FloorLamp",
47
- "Bed"
48
- ],
49
- "success_conditions": [
50
- {
51
- "type": "object_state",
52
- "object_type": "Television",
53
- "state": "isToggled",
54
- "value": true
55
- },
56
- {
57
- "type": "object_state",
58
- "object_type": "Bed",
59
- "state": "isDirty",
60
- "value": false
61
- },
62
- {
63
- "type": "object_state",
64
- "object_type": "FloorLamp",
65
- "state": "isToggled",
66
- "value": false
67
- }
68
- ],
69
- "success_logic": "AND",
70
- "target_description": "I'm getting ready to sleep. I'd like to lie in bed and watch some TV before I go to sleep. Please go to the living room and turn off one floor lamp. Then, go to the bedroom, tidy up the bed, and turn on the TV for me.",
71
- "max_steps": 76,
72
- "Evaluation_Type": "Conditional",
73
- "Category": "Daily Household (Kitchen/Bedroom)",
74
- "Level": "Level3 Hybrid"
75
- }