Instruction: I'm a bit hungry. First, please go to the kitchen to get the bread and bring it to the dining table in the bedroom. After that, pick up a box from the dining table and take it back to the kitchen.

{"steps": 38, "actions": ["Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Pick(Bread)", "Tilt(up, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(left, 0.25)", "Place(DiningTable)", "Pick(Box)", "Rotate(right, 90)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Bread", "room_type": "Bedroom"}, {"type": "object_in_room", "object_type": "Box", "room_type": "Kitchen"}]


Instruction: The power is out. Please go to the living room, pick up a candle from the table, and bring it to the kitchen.

{"steps": 61, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Tilt(down, 30)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Candle)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Candle", "room_type": "Kitchen"}]


Instruction: The basketball is a bit dirty and I'm planning to clean it. Please pick up a basketball from the bedroom floor and take it to the bathroom.

{"steps": 40, "actions": ["Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Pick(BasketBall)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "BasketBall", "room_type": "Bathroom"}]


Instruction: I'm ready to read the newspaper. Please get a newspaper from the living room and bring it to the bedroom.

{"steps": 30, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Tilt(down, 30)", "Move(forward, 0.25)", "Pick(Newspaper)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Newspaper", "room_type": "Bedroom"}]


Instruction: I want to clean the desk in the bedroom. Please go to the bathroom, get a dish sponge, and bring it to the bedroom.

{"steps": 48, "actions": ["Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(DishSponge)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "DishSponge", "room_type": "Bedroom"}]


Instruction: I'm planning to open a box with a knife. Please go to the kitchen, get a knife, and bring it to me in the bedroom.

{"steps": 32, "actions": ["Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Pick(Knife)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Knife", "room_type": "Bedroom"}]


Instruction: I'm heading out for work. First, please go to the bedroom to open the laptop. Then, pick up a keychain from the bedroom and bring it to the living room.

{"steps": 61, "actions": ["Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Manipulate(Laptop, open)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(KeyChain)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "KeyChain", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "Laptop", "state": "isOpen", "value": true}]


Instruction: The tennis racket is dirty. Please go to the bedroom, pick up the tennis racket, and bring it to the bathroom.

{"steps": 39, "actions": ["Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Rotate(right, 90)", "Pick(TennisRacket)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "TennisRacket", "room_type": "Bathroom"}]


Instruction: I'd like to have some wine. Please go to the kitchen, get the wine bottle, and bring it to the bedroom.

{"steps": 30, "actions": ["Rotate(right, 90)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(WineBottle)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "WineBottle", "room_type": "Bedroom"}]


Instruction: I'm getting ready to play baseball. Please go to the bedroom, pick up the baseball bat leaning against the wall under the window, and bring it to the living room.

{"steps": 63, "actions": ["Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(BaseballBat)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "BaseballBat", "room_type": "LivingRoom"}]


Instruction: The teddy bear is a bit dirty and needs a wash. Please go to the bedroom, pick up the teddy bear, and bring it to the bathroom.

{"steps": 47, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Tilt(down, 30)", "Pick(TeddyBear)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Tilt(up, 30)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "TeddyBear", "room_type": "Bathroom"}]


Instruction: I'm getting ready to play basketball. Please go to the bedroom, pick up the basketball, and bring it to the kitchen.

{"steps": 41, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Tilt(down, 30)", "Move(forward, 0.5)", "Pick(BasketBall)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "BasketBall", "room_type": "Kitchen"}]


Instruction: I am going to clean the bathroom. Please go to the kitchen, pick up a dishsponge, and bring it to the bathroom.

{"steps": 68, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.25)", "Pick(DishSponge)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "DishSponge", "room_type": "Bathroom"}]


Instruction: I have some urgent tasks to handle. Please go to the bedroom and bring a laptop to the kitchen for me.

{"steps": 33, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Tilt(down, 30)", "Move(right, 0.25)", "Move(forward, 0.25)", "Manipulate(Laptop, close)", "Pick(Laptop)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Laptop", "room_type": "Kitchen"}]


Instruction: The soap on the toilet in the bathroom is used. Please pick it up and take it to the kitchen, then throw it into the garbage can.

{"steps": 47, "actions": ["Rotate(left, 90)", "Tilt(down, 30)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(SoapBar)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "SoapBar", "room_type": "Kitchen"}, {"type": "object_in_receptacle", "object_type": "SoapBar", "receptacle_type": "GarbageCan"}]


Instruction: I'm planning to clean up the bedroom. Please pick up a cell phone and a laptop from the bedroom and bring them to the dining table in the living room.

{"steps": 63, "actions": ["Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(CellPhone)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Place(DiningTable)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Pick(Laptop)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Place(DiningTable)", "Tilt(down, 30)", "Move(forward, 0.25)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "CellPhone", "room_type": "LivingRoom"}, {"type": "object_in_room", "object_type": "Laptop", "room_type": "LivingRoom"}, {"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "DiningTable"}, {"type": "object_in_receptacle", "object_type": "Laptop", "receptacle_type": "DiningTable"}, {"type": "object_not_in_room", "object_type": "CellPhone", "room_type": "Bedroom"}, {"type": "object_not_in_room", "object_type": "Laptop", "room_type": "Bedroom"}]


Instruction: I need to tidy up the bedroom. Please pick up a pillow from the bed and take it to the sofa in the living room. After that, pick up the other items on the bed and bring them to the dining table in the living room. Finally, clean the bed.

{"steps": 100, "actions": ["Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(Pillow)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Place(Sofa)", "Rotate(right, 90)", "Tilt(up, 30)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(AlarmClock)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Place(DiningTable)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Manipulate(Bed, clean)", "Move(forward, 0.25)", "Pick(RemoteControl)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "object_in_room", "object_type": "Pillow", "room_type": "LivingRoom"}, {"type": "object_in_room", "object_type": "AlarmClock", "room_type": "LivingRoom"}, {"type": "object_in_room", "object_type": "RemoteControl", "room_type": "LivingRoom"}, {"type": "object_in_receptacle", "object_type": "AlarmClock", "receptacle_type": "DiningTable"}, {"type": "object_in_receptacle", "object_type": "RemoteControl", "receptacle_type": "DiningTable"}, {"type": "object_in_receptacle", "object_type": "Pillow", "receptacle_type": "Sofa"}, {"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}]


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 a floor lamp. Then, go to the bedroom, tidy up the bed, and turn on the TV for me.

{"steps": 33, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "ChangeState(FloorLamp, off)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Manipulate(Bed, clean)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "ChangeState(Television, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Television", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "FloorLamp", "state": "isToggled", "value": false}]


Turn off desk lamp and bring phone to bedside

Instruction: I've finished my work and I'm planning to rest in bed. Please turn off a desk lamp, power on a cellphone, and bring the phone to the bedside for me.

{"steps": 39, "actions": ["Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "ChangeState(DeskLamp, off)", "ChangeState(CellPhone, on)", "Pick(CellPhone)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "CellPhone", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: I am finishing my day. To keep the walkways clear, please relocate to the bedroom and position yourself by a bedside.

{"steps": 23, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: I want to start studying. Please move to the living room and fetch a pen from the table in the living room.

{"steps": 24, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "Pick(Pen)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Livingroom"}, {"type": "object_state", "object_type": "Pen", "state": "isPickedUp", "value": true}]


Instruction: I am hungry. Please move to the kitchen and get the tomato from the stove in the kitchen.

{"steps": 51, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 0.5)", "Pick(Tomato)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "object_state", "object_type": "Tomato", "state": "isPickedUp", "value": true}]


Instruction: I am going to sleep. Please proceed to the bedroom and position yourself at a bedside to remain available for my assistance.

{"steps": 41, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Tilt(down, 30)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: I want to study. Please go to the sofa in the living room, pick up a book, open it, and stay there waiting for me.

{"steps": 22, "actions": ["Rotate(left, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "Pick(Book)", "Manipulate(Book, open)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "Book", "state": "isOpen", "value": true}, {"type": "object_state", "object_type": "Book", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I want to eat fruit. Please pick up the apple from the table in front of you and navigate to the front of the sofa in the living room.

{"steps": 30, "actions": ["Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "Pick(Apple)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "Apple", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I need to get up early. Please go to the bedroom, pick up the alarm clock on the table, and place it on the bed.

{"steps": 49, "actions": ["Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Pick(AlarmClock)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(right, 0.25)", "Move(forward, 0.25)", "Place(Bed)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "bedroom"}, {"type": "object_in_receptacle", "object_type": "AlarmClock", "receptacle_type": "Bed", "value": "true"}, {"type": "object_in_receptacle", "object_type": "AlarmClock", "receptacle_type": "Dresser", "value": false}]


Instruction: I want to relax. Please fetch the phone from the table and navigate to the bedside in the bedroom.

{"steps": 36, "actions": ["Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(CellPhone)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "bedroom"}, {"type": "object_state", "object_type": "CellPhone", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: I want to study. Please move to the living room and turn on a laptop.

{"steps": 10, "actions": ["Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "ChangeState(Laptop, on)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}]


Instruction: I want to watch TV. Please fetch the remote control from the table in the bedroom and navigate to the sofa in the living room.

{"steps": 51, "actions": ["Rotate(left, 90)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Pick(RemoteControl)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "RemoteControl", "state": "isPickedUp"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I want to relax. Please fetch the apple in the kitchen and move to the sofa in the living room.

{"steps": 13, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Pick(Apple)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "Apple", "state": "isPickedUp"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I want to read. Please fetch the book in the bedroom and move to a dining table in the living room.

{"steps": 20, "actions": ["Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(Book)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "Book", "state": "isPickedUp"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}]


Instruction: I am going to relax. Please move to the living room and turn off a desk lamp.

{"steps": 29, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Tilt(down, 30)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "ChangeState(DeskLamp, off)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}]


Instruction: Please move to the bedroom and open the box there to check if there is anything inside.

{"steps": 14, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Manipulate(Box, open)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "object_state", "object_type": "Box", "state": "isOpen"}]


Instruction: I am going to wash my face. Please navigate to the bathroom and turn on a faucet there.

{"steps": 23, "actions": ["Move(forward, 0.5)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "ChangeState(Faucet, on)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "bathroom"}, {"type": "object_state", "object_type": "Faucet", "state": "isToggled"}]


Instruction: I am going to cook. Please navigate to the kitchen, find the tomato and then pick it up.

{"steps": 28, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Pick(Tomato)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "object_state", "object_type": "Tomato", "state": "isPickedUp"}]

I am going to cook.Please navigate to the kitchen,find the tomato and then pick it up.


Instruction: I am going to wash my hands. Please navigate to the bathroom and turn on the faucet there.

{"steps": 41, "actions": ["Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(right, 0.25)", "Tilt(up, 30)", "Tilt(up, 30)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "ChangeState(Faucet, on)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "bathroom"}, {"type": "object_state", "object_type": "Faucet", "state": "isToggled"}]

I am going to wash my hands.Please navigate to the bathroom and turn on the faucet there.


Instruction: I am cooking and need to check my phone. Please navigate to the sofa in the living room to pick up the phone, then navigate to the kitchen and place it on the countertop.

{"steps": 29, "actions": ["Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(CellPhone)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Tilt(up, 30)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Place(CounterTop)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "CounterTop"}]


Instruction: I want to clean my bedroom. Please navigate to the bedroom and fetch the baseball bat from the floor and place it on the dresser.

{"steps": 26, "actions": ["Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Pick(BaseballBat)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(Dresser)", "Move(backward, 0.25)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "object_in_receptacle", "object_type": "BaseballBat", "receptacle_type": "Dresser"}]


Instruction: I want to clean my living room. Please navigate to the living room and fetch the newspaper from the sofa and place it on the dining table.

{"steps": 33, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Pick(Newspaper)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Rotate(left, 90)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_in_receptacle", "object_type": "Newspaper", "receptacle_type": "DiningTable"}]


Instruction: I want to clean the dog bed. Please bring the spray bottle next to the dog bed.

{"steps": 33, "actions": ["Rotate(left, 90)", "Tilt(down, 30)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Pick(SprayBottle)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "SprayBottle", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "DogBed", "distance": 1.5}]


Pick up the basketball and wait by the sofa

Instruction: I want to play basketball in the living room. Please pick up the basketball and stand beside the sofa and wait for me.

{"steps": 38, "actions": ["Rotate(left, 90)", "Tilt(down, 30)", "Rotate(right, 90)", "Rotate(right, 90)", "Pick(BasketBall)", "Rotate(left, 90)", "Move(backward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "BasketBall", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I want to cook. Please pick up the alarm clock and stand beside the microwave in the kitchen.

{"steps": 28, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(AlarmClock)", "Rotate(left, 90)", "Rotate(left, 90)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "AlarmClock", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "agent_near_object", "object_type": "Microwave", "distance": 1.5}]


Instruction: I want to have breakfast in bed. Please pick up the eggs and stand by the bed.

{"steps": 48, "actions": ["Rotate(left, 90)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Egg)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Egg", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: Please go to the living room and turn off the floor lamp. Then come back to the bedside of the bedroom and wait for me.

{"steps": 37, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "ChangeState(FloorLamp, off)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "FloorLamp", "state": "isToggled", "value": false}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: I want to clean the toilet. Please pick up a dish sponge and stand next to the toilet while I wait.

{"steps": 14, "actions": ["Tilt(down, 30)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.5)", "Pick(DishSponge)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "DishSponge", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bathroom"}, {"type": "agent_near_object", "object_type": "Toilet", "distance": 1.5}]


Instruction: I'd like to play basketball. Please pick up the basketball and stand by the sofa in the living room while I wait.

{"steps": 63, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(BasketBall)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "BasketBall", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I'd like to wipe the bed. Please pick up a cloth and stand beside the bed while I wait.

{"steps": 25, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Pick(Cloth)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 0.25)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Cloth", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}]


Instruction: I'd like to work on the sofa for a while. Please pick up your laptop and stand next to the sofa while I wait.

{"steps": 56, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(Laptop)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: I'm going out. Please take a keychain and wait for me by the sofa.

{"steps": 64, "actions": ["Tilt(down, 30)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 0.5)", "Pick(KeyChain)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "KeyChain", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}]


Instruction: open the tv

{"steps": 2, "actions": ["ChangeState(tv, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "tv", "state": "isToggled", "value": true}]


Instruction: I want to eat something. Please open the microwave and refrigerator doors. I'd like to heat something up.

{"steps": 3, "actions": ["Manipulate(microwave, open)", "Manipulate(fridge, open)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "microwave", "state": "isOpen", "value": true}, {"type": "object_state", "object_type": "fridge", "state": "isOpen", "value": true}]


Can't find my keyboard. Help me locate and show it?

Instruction: I can't find my keyboard. Could you help me locate it and pick it up to show me?

{"steps": 15, "actions": ["Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Tilt(down, 30)", "TurnRight(small)", "Move(forward, 1.0)", "Move(forward, 1.0)", "TurnLeft(small)", "TurnLeft(small)", "Move(forward, 1.0)", "TurnLeft(small)", "TurnLeft(small)", "TurnLeft(small)", "Pick(keyboard)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "keyboard", "state": "isPickedUp", "value": true}]


Instruction: Turn on the sink please. I want to wash my face.

{"steps": 2, "actions": ["ChangeState(faucet, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "faucet", "state": "isToggled"}]


Instruction: I'm a bit hungry. Can you see the pie on the table? Pass it to me.

{"steps": 2, "actions": ["Pick(pie)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "pie", "state": "isPickedUp"}]


Instruction: I'm going to sleep. Could you turn off the desk lamp? It's a bit too bright.

{"steps": 5, "actions": ["TurnRight(small)", "WalkForward(large)", "WalkForward(large)", "ChangeState(tablelamp, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "tablelamp", "state": "isToggled", "value": false}]


Find my phone and put it on the TV stand.

Instruction: I can't find my phone. Could you help me look for it? Please put it on the TV stand when you find it.

{"steps": 8, "actions": ["WalkForward(large)", "TurnLeft(small)", "TurnLeft(small)", "Tilt(down, 30)", "WalkForward(large)", "Pick(cellphone)", "PutBack(cellphone, tvstand)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "cellphone", "receptacle_type": "tvstand", "value": true}]


Instruction: I'm starting work now. Could you walk over to my computer and turn it on?

{"steps": 16, "actions": ["WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnLeft(small)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnRight(small)", "WalkForward(large)", "TurnLeft(small)", "WalkForward(large)", "Tilt(down, 30)", "WalkForward(large)", "ChangeState(computer, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "computer", "state": "isToggled"}]


Instruction: I have a great idea! I want to implement it right away. Go turn on the computer and get ready! I'm about to start brainstorming.

{"steps": 5, "actions": ["WalkForward(large)", "WalkForward(large)", "Tilt(down, 30)", "ChangeState(computer, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "computer", "state": "isToggled"}]


Instruction: I have a bit of a stomachache. Help me open the toilet, thanks!

{"steps": 11, "actions": ["TurnLeft(small)", "Tilt(down, 30)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnRight(small)", "TurnRight(small)", "Tilt(down, 30)", "WalkForward(large)", "Manipulate(toilet, open)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "toilet", "state": "isOpen"}]


Clean up the dish bowl and put it on the kitchen table.

Instruction: I'm done eating. Can you see the dish bowl on the table? Clean up and put it on the kitchen table.

{"steps": 15, "actions": ["WalkForward(large)", "WalkForward(large)", "TurnRight(small)", "WalkForward(large)", "WalkForward(large)", "TurnRight(small)", "WalkForward(large)", "Tilt(down, 30)", "Pick(dishbowl)", "TurnRight(normal)", "WalkForward(large)", "TurnRight(small)", "Tilt(down, 30)", "PutBack(dishbowl, kitchentable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "dishbowl", "receptacle_type": "kitchentable", "value": true}]


Instruction: I want to wash my face. Help me turn on the faucet.

{"steps": 7, "actions": ["TurnLeft(small)", "WalkForward(large)", "WalkForward(large)", "Tilt(down, 30)", "WalkForward(large)", "ChangeState(faucet, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "faucet", "state": "isToggled", "value": true}]


Instruction: I've packed up and I'm ready to head out. Please help me turn off the ceiling light in this room—the switch is by the door.

{"steps": 6, "actions": ["WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnLeft(small)", "ChangeState(lightswitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "lightswitch", "state": "isToggled", "value": false}]


Instruction: Can you see the ceiling light switch by the door? Please walk over and turn it off. I'm going to sleep.

{"steps": 10, "actions": ["WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnLeft(small)", "Tilt(down, 30)", "WalkForward(large)", "TurnLeft(small)", "ChangeState(lightswitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "lightswitch", "state": "isToggled", "value": false}]


Instruction: I can't find my mouse. Can you see it? It should be by the computer. Pick it up for me if you find it.

{"steps": 17, "actions": ["TurnRight(small)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnLeft(normal)", "TurnLeft(small)", "TurnLeft(small)", "Tilt(down, 30)", "WalkForward(large)", "WalkForward(large)", "Pick(mouse)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "mouse", "state": "isPickedUp"}]


Instruction: Have you seen my folder? Pick it up for me if you find it.

{"steps": 18, "actions": ["TurnLeft(small)", "WalkForward(large)", "Tilt(down, 30)", "TurnLeft(small)", "TurnLeft(small)", "WalkForward(large)", "TurnRight(small)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnRight(small)", "TurnRight(small)", "WalkForward(large)", "WalkForward(large)", "Pick(folder)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "folder", "state": "isPickedUp", "value": true}]

Have you seen my document? Pick it up for me if you find it.


Instruction: I'm looking for something. Help me open the cabinet.

{"steps": 8, "actions": ["TurnRight(small)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnLeft(small)", "Tilt(down, 30)", "Manipulate(cabinet, open)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "cabinet", "state": "isOpen"}]


Instruction: I'm done showering and want a good sleep. Please turn off the light—the switch is by the door. It's the overhead room light

{"steps": 5, "actions": ["WalkForward(large)", "WalkForward(large)", "TurnLeft(small)", "ChangeState(lightswitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "lightswitch", "state": "isToggled", "value": false}]


Instruction: I'm brushing my teeth, but I can't find my toothbrush. Can you help me look for it and pick it up?

{"steps": 5, "actions": ["WalkForward(large)", "Tilt(down, 30)", "WalkForward(large)", "Pick(toothbrush)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "toothbrush", "state": "isPickedUp", "value": true}]


Instruction: I'd like to find something to eat, please open the refrigerator.

{"steps": 5, "actions": ["WalkForward(large)", "WalkForward(large)", "TurnLeft(small)", "Manipulate(fridge, open)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "fridge", "state": "isOpen", "value": true}]


Instruction: I'd like to heat up some food. Please open the microwave door.

{"steps": 4, "actions": ["WalkForward(large)", "WalkForward(large)", "Manipulate(microwave, open)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "microwave", "state": "isOpen", "value": true}]


Instruction: I'm full. Please put the pie on the kitchen counter; I'll prepare it later.

{"steps": 14, "actions": ["TurnRight(normal)", "TurnRight(small)", "Pick(pie)", "TurnLeft(normal)", "TurnLeft(small)", "WalkForward(large)", "WalkForward(large)", "TurnRight(small)", "TurnRight(small)", "WalkForward(large)", "TurnLeft(small)", "TurnLeft(small)", "PutBack(pie, kitchencounter)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "pie", "receptacle_type": "kitchencounter", "value": true}]


Place the salmon in the microwave and turn it on. Remember to close the microwave door.

Instruction: Place the salmon in the microwave and turn it on. Remember to close the microwave door.

{"steps": 8, "actions": ["WalkForward(large)", "WalkForward(large)", "Manipulate(microwave, open)", "Pick(salmon)", "PutIn(salmon, microwave)", "Manipulate(microwave, close)", "ChangeState(microwave, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "microwave", "state": "isOpen", "value": false}, {"type": "object_state", "object_type": "microwave", "state": "isToggled", "value": true}, {"type": "object_in_receptacle", "object_type": "salmon", "receptacle_type": "microwave", "value": true}]


Instruction: I need to tidy up the kitchen. Please open the refrigerator door and put the salmon inside, but do not close the refrigerator door.

{"steps": 6, "actions": ["WalkForward(large)", "WalkForward(large)", "Pick(salmon)", "Manipulate(fridge, open)", "PutIn(salmon, fridge)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "fridge", "state": "isOpen", "value": true}, {"type": "object_in_receptacle", "object_type": "salmon", "receptacle_type": "fridge", "value": true}]


Instruction: I'm going to start working now, please turn on your computer.

{"steps": 11, "actions": ["TurnRight(small)", "WalkForward(large)", "WalkForward(large)", "TurnRight(small)", "WalkForward(large)", "TurnLeft(small)", "WalkForward(large)", "Tilt(down, 30)", "WalkForward(large)", "ChangeState(computer, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "computer", "state": "isToggled", "value": true}]


Instruction: I want to start working, please turn on the computer in front of you.

{"steps": 12, "actions": ["WalkForward(large)", "WalkForward(large)", "TurnRight(normal)", "WalkForward(large)", "WalkForward(large)", "TurnLeft(small)", "TurnLeft(small)", "WalkForward(large)", "Tilt(down, 30)", "WalkForward(large)", "ChangeState(computer, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "computer", "state": "isToggled", "value": true}]


Instruction: I'd like to get some water; please feel free to pick up any glass.

{"steps": 5, "actions": ["WalkForward(large)", "Tilt(down, 30)", "WalkForward(large)", "Pick(wineglass)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "wineglass", "state": "isPickedUp", "value": true}]


Open the coffee pot and turn on the coffee machine.

Instruction: I'd like to drink coffee. Please open the coffee pot and turn on the coffee machine.

{"steps": 9, "actions": ["TurnRight(normal)", "TurnRight(small)", "TurnRight(small)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "Manipulate(coffeepot, open)", "ChangeState(coffeemaker, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "coffeepot", "state": "isOpen", "value": true}, {"type": "object_state", "object_type": "coffeemaker", "state": "isToggled", "value": true}]


Instruction: I need your help. Please sit on the bed first.

{"steps": 5, "actions": ["TurnRight(small)", "Tilt(down, 30)", "WalkForward(large)", "Sit(bed)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "bed", "state": "isSitting", "value": true}]


Instruction: I'd like to use my cellphone. Please put it back on the bed.

{"steps": 7, "actions": ["TurnRight(normal)", "WalkForward(large)", "Tilt(down, 30)", "WalkForward(large)", "TurnLeft(small)", "Pick(cellphone)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "cellphone", "state": "isPickedUp", "value": true}]


Instruction: I want to have some fun, so please turn on the TV and pick up a phone.

{"steps": 4, "actions": ["WalkForward(large)", "Pick(cellphone)", "ChangeState(tv, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "cellphone", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "tv", "state": "isToggled", "value": true}]


Instruction: I'd like to watch some TV. Please put the remote on the coffee table.

{"steps": 14, "actions": ["WalkForward(large)", "WalkForward(large)", "Pick(remotecontrol)", "TurnLeft(normal)", "WalkForward(large)", "WalkForward(large)", "TurnRight(normal)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnRight(normal)", "WalkForward(large)", "PutBack(remotecontrol, coffeetable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "remotecontrol", "receptacle_type": "coffeetable", "value": true}]


Instruction: I want to rest for a while, please get me a pillow.

{"steps": 16, "actions": ["TurnLeft(small)", "TurnLeft(small)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnRight(small)", "TurnRight(small)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnRight(normal)", "WalkForward(large)", "Pick(pillow)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "pillow", "state": "isPickedUp", "value": true}]


Turn on a computer and pick up a cup from the table.

Instruction: I'm about to play a game. Please turn on a computer and pick up a cup from the table.

{"steps": 10, "actions": ["WalkForward(large)", "WalkForward(large)", "TurnLeft(small)", "TurnLeft(small)", "WalkForward(large)", "TurnRight(small)", "Tilt(down, 30)", "ChangeState(computer, on)", "Pick(mug)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "mug", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "computer", "state": "isToggled", "value": true}, {"type": "object_in_receptacle", "object_type": "mug", "receptacle_type": "desk", "value": false}]


Instruction: I'm hungry, please pick up the cupcake; I'll eat it later.

{"steps": 9, "actions": ["WalkForward(large)", "WalkForward(large)", "TurnLeft(normal)", "WalkForward(large)", "TurnRight(normal)", "Tilt(down, 30)", "WalkForward(large)", "Pick(cupcake)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "cupcake", "state": "isPickedUp", "value": true}]


Place a mobile phone on the table and pick up a mouse.

Instruction: Please place a mobile phone on the table, and then pick up a mouse.

{"steps": 15, "actions": ["WalkForward(large)", "TurnLeft(normal)", "WalkForward(large)", "Tilt(down, 30)", "Pick(cellphone)", "TurnRight(normal)", "WalkForward(large)", "WalkForward(large)", "WalkForward(large)", "TurnRight(small)", "TurnRight(small)", "PutBack(cellphone, desk)", "ChangeState(cellphone, on)", "Pick(mouse)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "mouse", "state": "isPickedUp", "value": true}, {"type": "object_in_receptacle", "object_type": "cellphone", "receptacle_type": "desk", "value": true}]


Put a bread slice in the toaster and turn on the toaster.

Instruction: I'm hungry. Please put a bread slice in the toaster and turn on the toaster.

{"steps": 5, "actions": ["WalkForward(large)", "Tilt(down, 30)", "Pick(breadslice)", "ChangeState(toaster, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "breadslice", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "toaster", "state": "isToggled", "value": true}]


Get a bottle of dish soap and turn on the tap.

Instruction: I want to clean the kitchen. Please get me a bottle of dish soap and then turn on the tap.

{"steps": 5, "actions": ["WalkForward(large)", "TurnLeft(small)", "Pick(dishwashingliquid)", "ChangeState(faucet, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "dishwashingliquid", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "faucet", "state": "isToggled", "value": true}]