platform stringclasses 4
values | task_id stringlengths 10 16 | task_name stringlengths 10 110 | instruction stringlengths 11 237 | scene stringclasses 98
values | max_steps int64 15 210 ⌀ | golden_actions stringlengths 58 2.15k | success_conditions stringlengths 51 618 | target_object_types stringlengths 2 57 ⌀ | success_logic stringclasses 3
values | target_description stringlengths 11 237 ⌀ | Category stringclasses 7
values | Evaluation_Type stringclasses 2
values | Level stringclasses 4
values | executor stringclasses 2
values | image_url stringclasses 1
value | input_modality stringclasses 1
value | origin_location bool 1
class | scene_index int64 3 602 ⌀ | weather stringclasses 1
value |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
carla | carla00417 | Go to the utility pole. | Can you see the utility pole in the image? Walk underneath it | Town02 | 50 | {"steps": 10, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[21.79916763305664, 182.245361328125, 0.32000017166137695], [22.911849975585938, 182.245361328125, 0.32000017166137695], [22.911849975585938, 183.35595703125, 0.32000017166137695], [21.79916763305664, 183.35595703125, 0.32000017166137695]], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00418 | Go to the red-framed house. | Can you see the house inside the red frame? That's my home. Walk over there. | Town02 | 50 | {"steps": 10, "actions": ["Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 3.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[106.01261901855469, 206.32070922851562, 0.20275449752807617], [98.19144377271758, 206.3207154772305, 0.20275449752807617], [98.19143676757812, 197.55276489257812, 0.20275449752807617], [106.01261201341524, 197.55275864386326, 0.20275449752807617]], "threshold_label": "loose"... | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00419 | Wait by the red-framed pole near the gas station. | Can you see the storefront marked by the red box? Please walk forward to the front of this shop. | Town02 | 50 | {"steps": 11, "actions": ["Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[198.4791717529297, 101.89537048339844, 0.32000017166137695], [199.5918426513672, 101.89537048339844, 0.32000017166137695], [199.5918426513672, 103.00596618652344, 0.32000017166137695], [198.4791717529297, 103.00596618652344, 0.32000017166137695]], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00500 | Walk to the city lamp | Walk to the city lamp. You can turn and move in any direction. | Town01 | 30 | {"steps": 4, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[245.71035715556286, 135.9981842041015, 0.10087871551513672], [245.71035766601562, 132.1647490870236, 0.10087871551513672], [246.1495671608434, 132.16474914550787, 0.10087871551513672], [246.14956665039062, 135.99818426258577, 0.10087871551513672]], "threshold_label": "loose"... | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00501 | Walk to the target point. | Walk to the target point. You can turn and move in any direction. | Town01 | 50 | {"steps": 12, "actions": ["Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "distance_to_waypoint", "target_location": [306.0, 122.2, 1.0], "threshold_label": "medium"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00502 | Walk to the target point. | Walk to the target point. You can turn and move in any direction. | Town03 | 50 | {"steps": 12, "actions": ["Move(forward, 10.0)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "distance_to_waypoint", "target_location": [88.2, 186.9, 2.1], "threshold_label": "medium"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00503 | Walk to the target point. | Walk to the target point. You can turn and move in any direction. | Town03 | 50 | {"steps": 19, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "... | {"type": "distance_to_waypoint", "target_location": [11.6, 190.1, 1.0], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00504 | Walk to the target point. | Walk to the target point. You can turn and move in any direction. | Town03 | 50 | {"steps": 6, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "distance_to_waypoint", "target_location": [-24.8, 169.1, 1.0], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00505 | Walk to the target point. | Walk to the target point. You can turn and move in any direction. | Town03 | 50 | {"steps": 13, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "distance_to_waypoint", "target_location": [6.64, 93.6, 0.95], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00506 | Walk to the target point. | Walk to the target point. You can turn and move in any direction. | Town03 | 50 | {"steps": 9, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "distance_to_waypoint", "target_location": [-36.42, 68.74, 1.39], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00507 | Walk to the target point. | Walk to the target point. You can turn and move in any direction. | Town05 | 50 | {"steps": 8, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "distance_to_waypoint", "target_location": [151.65, -64.72, 0.99], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00508 | Walk to the target point. | Walk to the target point. You can turn and move in any direction. | Town05 | 50 | {"steps": 10, "actions": ["Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "distance_to_waypoint", "target_location": [130.71, -142.66, 1.14], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00509 | Walk to the target point. | Walk to the target point. You can turn and move in any direction. | Town05 | 50 | {"steps": 13, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "distance_to_waypoint", "target_location": [26.33, -143.15, 0.95], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00510 | Walk to the target point. | Walk to the target point. You can turn and move in any direction. | Town05 | 50 | {"steps": 15, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forw... | {"type": "distance_to_waypoint", "target_location": [-15.4, -184.84, 2.34], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00511 | Walk to the house behind the car. | Walk to the house behind the car.You can turn and move in any direction. | Town04 | 50 | {"steps": 13, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 3.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[160.07955932617188, -336.82562255859375, -0.007568836212158203], [182.94589233398438, -336.82562255859375, -0.007568836212158203], [182.94589233398438, -322.20013427734375, -0.007568836212158203], [160.07955932617188, -322.20013427734375, -0.007568836212158203]], "threshold_... | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00512 | Walk to the street light near the tree. | Walk to the street light near the tree. You can turn and move in any direction. | Town04 | 50 | {"steps": 12, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 3.0)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[210.53910979695675, -299.44793701172404, 0.1728208065032959], [206.7056732178194, -299.44792373994716, 0.1728208065032959], [206.70567169718387, -299.88714599608846, 0.1728208065032959], [210.53910827632123, -299.88715926786534, 0.1728208065032959]], "threshold_label": "loos... | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00513 | Walk to the gas station. | Walk to the gas station. You can turn and move in any direction. | Town03 | 50 | {"steps": 8, "actions": ["Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[-68.21886611796361, 160.25251501103645, -0.543034553527832], [-19.229602813720703, 143.57504272460938, -0.543034553527832], [-9.526487580766847, 172.07747156122917, -0.543034553527832], [-58.515750885009766, 188.75494384765625, -0.543034553527832]], "threshold_label": "loose... | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00514 | Walk to the tree positioned in the middle section of the straight wire fence. | Walk to the tree positioned in the middle section of the straight wire fence.You can turn and move in any direction. | Town05 | 50 | {"steps": 7, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[115.63643646240234, 23.80908203125, -0.4162178039550781], [112.39882803477771, 32.70432333747854, -0.4162178039550781], [103.75589729474589, 29.55854859793219, -0.4162178039550781], [106.99350572237053, 20.663307291703646, -0.4162178039550781]], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00515 | Walk to the stopsign. | Walk to the stopsign. You can turn and move in any direction. | Town05 | 50 | {"steps": 16, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right,... | {"type": "polygon_area", "target_polygon": [[142.26185996351512, 6.009302629411776, 0.0441591739654541], [142.26268005371094, 6.087168216705322, 0.0441591739654541], [142.20808022203175, 6.087743269025724, 0.0441591739654541], [142.20726013183594, 6.009877681732178, 0.0441591739654541]], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00516 | Walk to the traffic light. | Walk to the traffic light. You can turn and move in any direction. | Town02 | 50 | {"steps": 6, "actions": ["Move(forward, 3.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[129.8059997558548, 226.6159980303077, 0.21999990940093994], [129.69399952828604, 226.61599731444855, 0.21999990940093994], [129.6940002441452, 226.5039970868798, 0.21999990940093994], [129.80600047171396, 226.50399780273895, 0.21999990940093994]], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00517 | Walk to the area near the yellow-roofed bungalow. | Walk to the area near the yellow-roofed bungalow. You can turn and move in any direction. | Town02 | 50 | {"steps": 10, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[132.69491577148438, 164.6818389892578, 0.2806274890899658], [149.7267002239075, 164.6819197838736, 0.2806274890899658], [149.72665405273438, 174.4149627685547, 0.2806274890899658], [132.69486960031125, 174.4148819739389, 0.2806274890899658]], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00518 | Walk toward the streetlight opposite the house with the yellow roof. | Please walk to Walk toward the streetlight opposite the house with the yellow roof. You can turn and move in any direction. | Town02 | 50 | {"steps": 13, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 10.0)", "Move(forward, 10.0)", "Rotate(right, 90)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 10.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[151.63349863505505, 194.71304321289057, 0.3208787441253662], [151.6334991455078, 190.87960809581267, 0.3208787441253662], [152.07270864033558, 190.87960815429693, 0.3208787441253662], [152.0727081298828, 194.71304327137483, 0.3208787441253662]], "threshold_label": "loose"} | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
carla | carla00519 | Walk to the speed limit station. | Walk to the speed limit station. You can turn and move in any direction. | Town02 | 50 | {"steps": 6, "actions": ["Move(forward, 10.0)", "Rotate(right, 90)", "Move(forward, 3.0)", "Move(forward, 3.0)", "Move(forward, 3.0)", "EndTask(success)"]} | {"type": "polygon_area", "target_polygon": [[-9.841065363179975, 208.78729248046872, 0.23532617092132568], [-9.91893482208247, 208.7872925426824, 0.23532617092132568], [-9.91893486570186, 208.73269653320315, 0.23532617092132568], [-9.841065406799366, 208.73269647098948, 0.23532617092132568]], "threshold_label": "loose"... | null | null | null | null | null | null | walker | ./image.png | image_goal | false | null | ClearSunset |
procthor | procthor000 | Bedside Tomato Delivery | I'm planning to eat a tomato in bed. Could you go get a tomato and wait by my bedside? | null | 106 | {"steps": 48, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25... | [{"type": "object_state", "object_type": "Tomato", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}] | ["Bed", "Tomato"] | AND | I'm planning to eat a tomato in bed. Could you go get a tomato and wait by my bedside? | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 100 | null |
procthor | procthor001 | Bathroom Toilet On & Return | I need to use the toilet. Please go to the bathroom, turn on the toilet, and then return to the bedroom. | null | 60 | {"steps": 25, "actions": ["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(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward,... | [{"type": "object_state", "object_type": "Toilet", "state": "isOpen", "value": true}, {"type": "agent_in_room", "room_type": "Bedroom"}] | ["Toilet"] | AND | I need to use the toilet. Please go to the bathroom, turn on the toilet, and then return to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 100 | null |
procthor | procthor002 | Sofa Nap Pillow & Wait | I'd like to take a nap on the sofa. Please bring a pillow and wait for me next to the sofa. | null | 84 | {"steps": 37, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 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(right, 0.25)", "Pick(Pillow)",... | [{"type": "object_state", "object_type": "Pillow", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}] | ["Sofa", "Pillow"] | AND | I'd like to take a nap on the sofa. Please bring a pillow and wait for me next to the sofa. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 100 | null |
procthor | procthor003 | Phone Handoff & Wait by Sofa | I'm using my phone on the sofa. Please take my phone and wait for me next to the sofa. | null | 88 | {"steps": 39, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "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(right, 0.25)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(right, 0.25)... | [{"type": "object_state", "object_type": "CellPhone", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}] | ["Sofa", "CellPhone"] | AND | I'm using my phone on the sofa. Please take my phone and wait for me next to the sofa. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 100 | null |
procthor | procthor004 | Fetch Tissues & Wait by Dining Table | 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. | null | 80 | {"steps": 35, "actions": ["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(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.... | [{"type": "object_state", "object_type": "ToiletPaper", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}] | ["DiningTable", "ToiletPaper"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 100 | null |
procthor | procthor005 | Get Bowl for Rice | I'm going to serve the rice. Please pick up your bowl and stand near the counter. | null | 68 | {"steps": 29, "actions": ["Rotate(right, 90)", "Tilt(down, 30)", "Rotate(right, 90)", "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, 0.25)", "Pick(Bowl)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(rig... | [{"type": "object_state", "object_type": "Bowl", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "CounterTop", "distance": 1.5}] | ["Bowl", "CounterTop"] | AND | I'm going to serve the rice. Please pick up your bowl and stand near the counter. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 110 | null |
procthor | procthor006 | Fetch an Egg from Fridge | I need to prepare a meal. Please take the an egg out of the refrigerator and stand near it. | null | 66 | {"steps": 28, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, ... | [{"type": "object_state", "object_type": "Egg", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Fridge", "distance": 1.5}] | ["Egg", "Fridge"] | AND | I need to prepare a meal. Please take the an egg out of the refrigerator and stand near it. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 110 | null |
procthor | procthor007 | Bring Cup, Wait by Sofa | I'd like some water. Please go to the kitchen and get a cup, then wait for me near the sofa. | null | 78 | {"steps": 34, "actions": ["Rotate(right, 90)", "Rotate(right, 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, 1.0)", "Move(forward, 0.5)", "Rotate(rig... | [{"type": "object_state", "object_type": "Cup", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}] | ["Sofa", "Cup"] | AND | I'd like some water. Please go to the kitchen and get a cup, then wait for me near the sofa. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 110 | null |
procthor | procthor008 | Get Spatula, Stand by Fridge | I need to use a spatula. Please pick up the spatula and stand near the refrigerator. | null | 68 | {"steps": 29, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "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... | [{"type": "object_state", "object_type": "Spatula", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Fridge", "distance": 1.5}] | ["Fridge", "Spatula"] | AND | I need to use a spatula. Please pick up the spatula and stand near the refrigerator. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 110 | null |
procthor | procthor009 | Get Spoon, Wait by Sofa | I need a spoon. Please pick up the spoon and stand near the sofa. | null | 92 | {"steps": 41, "actions": ["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, 1.0)", "Move(forward, 0.5)", "Rotate(ri... | [{"type": "object_state", "object_type": "Ladle", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}] | ["Ladle", "Sofa"] | AND | I need a spoon. Please pick up the spoon and stand near the sofa. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 110 | null |
procthor | procthor010 | Bring Basketball, Wait by TV Cabinet | I need your help to pick up the basketball from the bedroom floor and wait for me by the TV cabinet. | null | 44 | {"steps": 17, "actions": ["Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(BasketBall)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)... | [{"type": "object_state", "object_type": "BasketBall", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "TVStand", "distance": 1.5}] | ["BasketBall", "TVStand"] | AND | I need your help to pick up the basketball from the bedroom floor and wait for me by the TV cabinet. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 122 | null |
procthor | procthor011 | Bring Watch, Wait by Fridge | I want to check the time. Please pick up a watch from the bedroom and wait for me by the refrigerator. | null | 86 | {"steps": 38, "actions": ["Tilt(down, 30)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Watch)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", ... | [{"type": "object_state", "object_type": "Watch", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Fridge", "distance": 1.5}] | ["Watch", "Fridge"] | AND | I want to check the time. Please pick up a watch from the bedroom and wait for me by the refrigerator. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 122 | null |
procthor | procthor012 | Bring Book, Stand by TV Cabinet | I'd like to do some organization. Please pick up a book and stand next to the TV cabinet. | null | 60 | {"steps": 25, "actions": ["Tilt(down, 30)", "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)", "Pick(Book)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Mov... | [{"type": "object_state", "object_type": "Book", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "TVStand", "distance": 1.5}] | ["Book", "TVStand"] | AND | I'd like to do some organization. Please pick up a book and stand next to the TV cabinet. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 122 | null |
procthor | procthor013 | Bring Pencil, Wait by TV Cabinet | I'd like to do some tidying up. Please pick up the pencil from the bedroom and stand near the TV cabinet. | null | 52 | {"steps": 21, "actions": ["Tilt(down, 30)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Pencil)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", ... | [{"type": "object_state", "object_type": "Pencil", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "TVStand", "distance": 1.5}] | ["Pencil", "TVStand"] | AND | I'd like to do some tidying up. Please pick up the pencil from the bedroom and stand near the TV cabinet. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 122 | null |
procthor | procthor014 | Bring Candle, Wait by Fridge | I need you to get me a candle and wait for me next to the refrigerator. | null | 90 | {"steps": 40, "actions": ["Rotate(left, 90)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(forward, 0.5)... | [{"type": "object_state", "object_type": "Candle", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Fridge", "distance": 1.5}] | ["Candle", "Fridge"] | AND | I need you to get me a candle and wait for me next to the refrigerator. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 122 | null |
procthor | procthor015 | Bring Candle, Wait by Bed | I need you to bring me a candle and wait for me by the bed. | null | 80 | {"steps": 35, "actions": ["Tilt(down, 30)", "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(forward, 0.5)", "Pick(Candle)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move... | [{"type": "object_state", "object_type": "Candle", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}] | ["Candle", "Bed"] | AND | I need you to bring me a candle and wait for me by the bed. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 126 | null |
procthor | procthor016 | Deliver Basketball to Faucet | I want to wash the basketball. Please bring the basketball to the faucet and wait for me. | null | 132 | {"steps": 61, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "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... | [{"type": "object_state", "object_type": "BasketBall", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Faucet", "distance": 1.5}] | ["BasketBall", "Faucet"] | AND | I want to wash the basketball. Please bring the basketball to the faucet and wait for me. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 126 | null |
procthor | procthor017 | Move Alarm Clock & Wait | I'm getting ready for bed. Please bring the alarm clock over, and wait for me by my bed. | null | 94 | {"steps": 42, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "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(... | [{"type": "object_state", "object_type": "AlarmClock", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}] | ["AlarmClock", "Bed"] | AND | I'm getting ready for bed. Please bring the alarm clock over, and wait for me by my bed. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 126 | null |
procthor | procthor018 | Pick Up Spray Bottle | I'd like to do some cleaning. Please pick up the spray bottle and wait for me at the side table. | null | 84 | {"steps": 37, "actions": ["Tilt(down, 30)", "Rotate(right, 90)", "Move(forward, 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, 0.5)", "Move(left, 0.25)", "Pick(SprayBottle)", "Rotate(right, 90)", "Move(forward, 1.0)"... | [{"type": "object_state", "object_type": "SprayBottle", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "SideTable", "distance": 1.5}] | ["SprayBottle", "SideTable"] | AND | I'd like to do some cleaning. Please pick up the spray bottle and wait for me at the side table. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 126 | null |
procthor | procthor019 | Bring Plunger, Wait by Sink | I'd like to do some cleaning. Please pick up the plunger and wait for me by the sink. | null | 44 | {"steps": 17, "actions": ["Tilt(down, 30)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Pick(Plunger)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", ... | [{"type": "object_state", "object_type": "Plunger", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "SinkBasin", "distance": 1.5}] | ["Plunger", "SinkBasin"] | AND | I'd like to do some cleaning. Please pick up the plunger and wait for me by the sink. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 126 | null |
procthor | procthor100 | Bring cup to bedroom | I'm a bit thirsty and want some water. Could you please bring a cup from the kitchen to the bedroom? | null | 78 | {"steps": 34, "actions": ["Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(Mug)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move... | [{"type": "object_in_room", "object_type": "Mug", "room_type": "Bedroom"}] | ["Mug"] | AND | I'm a bit thirsty and want some water. Could you please bring a cup from the kitchen to the bedroom? | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 3 | null |
procthor | procthor101 | Put book in living room, stand by dining table | 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. | null | 110 | {"steps": 50, "actions": ["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)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left... | [{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_in_room", "object_type": "Book", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.35}] | ["Book", "DiningTable"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 3 | null |
procthor | procthor102 | Turn on computer screen, wait by dining table | 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. | null | 38 | {"steps": 14, "actions": ["Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Laptop, open)", "EndTask(su... | [{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.33}, {"type": "object_state", "object_type": "Laptop", "state": "isOpen", "value": true}] | ["Laptop", "DiningTable"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 4 | null |
procthor | procthor103 | Bring bread to living room, wait by sofa | 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. | null | 60 | {"steps": 25, "actions": ["Rotate(right, 90)", "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, 0.5)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(Bread)", "Rotate(left, 90)", "Move(for... | [{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.42}, {"type": "object_state", "object_type": "Bread", "state": "isPickedUp", "value": true}] | ["Bread", "Sofa"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 5 | null |
procthor | procthor104 | Bring candle to kitchen, wait by counter | I need a candle for cooking in the kitchen. Please bring one candle from the living room and wait by any counter. | null | 114 | {"steps": 52, "actions": ["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(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)... | [{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "agent_near_object", "object_type": "CounterTop", "distance": 1.37}, {"type": "object_state", "object_type": "Candle", "state": "isPickedUp", "value": true}] | ["Candle", "CounterTop"] | AND | I need a candle for cooking in the kitchen. Please bring one candle from the living room and wait by any counter. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 5 | null |
procthor | procthor105 | Bring toilet paper holder to bedroom | Can you bring the empty toilet paper holder from the bathroom to the bedroom? I'll refill it with paper. | null | 70 | {"steps": 30, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Pick(ToiletPaper)", "Rotate(right, 90)", "Rotate(right, ... | [{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "object_in_room", "object_type": "ToiletPaper", "room_type": "Bedroom"}, {"type": "object_state", "object_type": "ToiletPaper", "state": "isPickedUp", "value": true}] | ["ToiletPaper"] | AND | Can you bring the empty toilet paper holder from the bathroom to the bedroom? I'll refill it with paper. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 6 | null |
procthor | procthor106 | Leave bathroom, go to bedroom | I'm going back to my room to sleep. Please come out of the bathroom and then go back to the bedroom. | null | 30 | {"steps": 10, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "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, 0.25)", "EndTask(success)"]} | [{"type": "agent_in_room", "room_type": "Bedroom"}] | [] | AND | I'm going back to my room to sleep. Please come out of the bathroom and then go back to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 7 | null |
procthor | procthor107 | Put bowl in kitchen, bring pen to living room | I'm done eating. Please put the bowl back in the kitchen and bring my pen from the kitchen to the living room. | null | 98 | {"steps": 44, "actions": ["Tilt(down, 30)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Pick(Bowl)", "Rotate(right, 90)", "Move(right, 0.25)", "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(fo... | [{"type": "object_in_room", "object_type": "Bowl", "room_type": "Kitchen"}, {"type": "object_in_room", "object_type": "Pen", "room_type": "LivingRoom"}] | ["Bowl", "Pen"] | AND | I'm done eating. Please put the bowl back in the kitchen and bring my pen from the kitchen to the living room. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 11 | null |
procthor | procthor108 | Go to bedroom | Please go to the bedroom. | null | 72 | {"steps": 31, "actions": ["Rotate(left, 90)", "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(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "... | [{"type": "agent_in_room", "room_type": "Bedroom"}] | [] | AND | Please go to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 15 | null |
procthor | procthor109 | Bring newspaper to bathroom | I want to read the newspaper when I use the bathroom. Please bring the newspaper to me in the bathroom | null | 72 | {"steps": 31, "actions": ["Move(forward, 0.5)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Pick(Newspaper)", "Rotate(right, 90)", "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, 1.0)", "Move(forward, 1.0)", "... | [{"type": "agent_in_room", "room_type": "Bathroom"}, {"type": "object_in_room", "object_type": "Newspaper", "room_type": "Bathroom"}, {"type": "object_state", "object_type": "Newspaper", "state": "isPickedUp", "value": true}] | ["Newspaper"] | AND | I want to read the newspaper when I use the bathroom. Please bring the newspaper to me in the bathroom | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 15 | null |
procthor | procthor110 | Locate bedroom and enter | Can you locate my bedroom? If so, please go ahead and step inside. | null | 48 | {"steps": 19, "actions": ["Move(right, 0.25)", "Move(right, 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(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)"... | [{"type": "agent_in_room", "room_type": "Bedroom"}] | [] | AND | Can you locate my bedroom? If so, please go ahead and step inside. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 17 | null |
procthor | procthor111 | Bring apple to bedroom dresser | 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. | null | 52 | {"steps": 21, "actions": ["Tilt(down, 30)", "Move(left, 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, 0.5)", "Pick(Apple)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move... | [{"type": "object_in_room", "object_type": "Apple", "room_type": "Bedroom"}, {"type": "object_in_receptacle", "object_type": "Apple", "receptacle_type": "Dresser", "value": "true"}] | ["Apple", "Dresser"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 19 | null |
procthor | procthor112 | Turn on phone, bring to bathroom | Can you turn on one phone and bring it to the bathroom? I want to use it while I'm in there. | null | 102 | {"steps": 46, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "ChangeState(CellPhone, on)", "Pick(CellPhone)", "Rotate(right, 90)", "Rotate(right... | [{"type": "object_in_room", "object_type": "CellPhone", "room_type": "Bathroom"}, {"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": true}] | ["CellPhone"] | AND | Can you turn on one phone and bring it to the bathroom? I want to use it while I'm in there. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 19 | null |
procthor | procthor113 | Bring toilet paper to kitchen | Can you see any toilet paper? If so, please bring one roll to the kitchen; the kitchen is out of paper. | null | 52 | {"steps": 21, "actions": ["Pick(ToiletPaper)", "Rotate(right, 90)", "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, 0.5)", "Move(right, 0.25)... | [{"type": "object_in_room", "object_type": "ToiletPaper", "room_type": "Kitchen"}, {"type": "object_state", "object_type": "ToiletPaper", "state": "isPickedUp", "value": true}] | ["ToiletPaper"] | AND | Can you see any toilet paper? If so, please bring one roll to the kitchen; the kitchen is out of paper. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 22 | null |
procthor | procthor114 | Wait at kitchen table | I'll go eat soon. Please wait for me at any kitchen table first. | null | 58 | {"steps": 24, "actions": ["Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "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, 0.2... | [{"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.44}] | ["DiningTable"] | AND | I'll go eat soon. Please wait for me at any kitchen table first. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 127 | null |
procthor | procthor115 | Bring book to kitchen | Please take one book from the bedroom to the kitchen. It might help me with cooking. | null | 94 | {"steps": 42, "actions": ["Tilt(down, 30)", "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(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(for... | [{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "object_state", "object_type": "Book", "state": "isPickedUp", "value": true}] | ["Book"] | AND | Please take one book from the bedroom to the kitchen. It might help me with cooking. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 31 | null |
procthor | procthor116 | Clean bed, then go to kitchen | As my robot, please clean a bed before going to sleep, then leave my bedroom and go to the kitchen. | null | 62 | {"steps": 26, "actions": ["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(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Bed, clean)", "Rotate... | [{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}] | ["Bed"] | AND | As my robot, please clean a bed before going to sleep, then leave my bedroom and go to the kitchen. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 31 | null |
procthor | procthor117 | Hide watch on counter, go to bedroom | I'm just kidding. Please hide the watch on the kitchen counter and then quickly go to the bedroom. | null | 98 | {"steps": 44, "actions": ["Pick(Watch)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "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, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "... | [{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "object_in_room", "object_type": "Watch", "room_type": "Kitchen"}, {"type": "object_in_receptacle", "object_type": "Watch", "receptacle_type": "CounterTop", "value": "true"}] | ["Watch"] | AND | I'm just kidding. Please hide the watch on the kitchen counter and then quickly go to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 35 | null |
procthor | procthor118 | Break vase, go to bathroom | Please break the vase, then quickly go to the bathroom. | null | 26 | {"steps": 8, "actions": ["Manipulate(Vase, break)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "EndTask(success)"]} | [{"type": "agent_in_room", "room_type": "Bathroom"}, {"type": "object_state", "object_type": "Vase", "state": "isBroken", "value": true}] | ["Vase"] | AND | Please break the vase, then quickly go to the bathroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 35 | null |
procthor | procthor119 | Grab baseball bat, wait in living room | My friend is coming over to hang out. Please grab a baseball bat for me and then wait for him in the living room. | null | 114 | {"steps": 52, "actions": ["Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", ... | [{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "BaseballBat", "state": "isPickedUp", "value": true}, {"type": "object_in_room", "object_type": "BaseballBat", "room_type": "LivingRoom"}] | ["BaseballBat"] | AND | My friend is coming over to hang out. Please grab a baseball bat for me and then wait for him in the living room. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 93 | null |
procthor | procthor200 | Slice tomato, take piece to kitchen table | 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. | null | 34 | {"steps": 12, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Fridge, open)", "Manipulate(Tomato, slice)", "Pick(Tomato)", "Manipulate(Fridge, close)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "Tomato", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Tomato", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}, {"type": "agent_in_room", "room_type": "Kitchen"}, {"type... | ["Tomato", "Fridge", "DiningTable"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 151 | null |
procthor | procthor201 | Turn off floor lamp, tidy bed, turn on TV | 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. | null | 76 | {"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(r... | [{"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}] | ["Television", "FloorLamp", "Bed"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 152 | null |
procthor | procthor202 | Turn off lamp, turn on phone, stand by bed | I've finished my work and am going to rest in bed. Please turn off a bedside lamp, turn on a mobile phone, and stand by the bed. | null | 88 | {"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, ... | [{"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": ... | ["DeskLamp", "CellPhone", "Bed"] | AND | I've finished my work and am going to rest in bed. Please turn off a bedside lamp, turn on a mobile phone, and stand by the bed. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 154 | null |
procthor | procthor203 | Turn on toaster and coffee machine | I'm getting ready for breakfast. Please go to the kitchen, turn on the toaster, and turn on the coffee machine for me. | null | 58 | {"steps": 24, "actions": ["Rotate(left, 90)", "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, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)"... | [{"type": "object_state", "object_type": "CoffeeMachine", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Toaster", "state": "isToggled", "value": true}] | ["CoffeeMachine", "Toaster"] | AND | I'm getting ready for breakfast. Please go to the kitchen, turn on the toaster, and turn on the coffee machine for me. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 157 | null |
procthor | procthor204 | Get egg and place near pan | I want to eat an egg. Please go to the kitchen, open the refrigerator, take out an egg, close the refrigerator, and then place it next to the pot. | null | 62 | {"steps": 26, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Manipulate(Fridge, open)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Egg)", "Manipulate(Fridge... | [{"type": "object_state", "object_type": "Egg", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}, {"type": "agent_near_object", "object_type": "Pan", "distance": 1.5}] | ["Egg", "Fridge", "Pan"] | AND | I want to eat an egg. Please go to the kitchen, open the refrigerator, take out an egg, close the refrigerator, and then place it next to the pot. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 201 | null |
procthor | procthor205 | Fetch pillow to bathroom | I want to wash the pillow. Please pick up the pillow and bring it to the bathroom. | null | 88 | {"steps": 39, "actions": ["Rotate(right, 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(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)",... | [{"type": "object_in_room", "object_type": "Pillow", "room_type": "Bathroom"}] | ["Pillow"] | AND | I want to wash the pillow. Please pick up the pillow and bring it to the bathroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 300 | null |
procthor | procthor206 | Fetch book to bedroom | I want to read before going to sleep. Please find one book and bring it to the bedroom. | null | 80 | {"steps": 35, "actions": ["Rotate(right, 90)", "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(Book)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "M... | [{"type": "object_in_room", "object_type": "Book", "room_type": "Bedroom"}] | ["Book"] | AND | I want to read before going to sleep. Please find one book and bring it to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 602 | null |
procthor | procthor207 | Fetch basketball to bathroom | My basketball is dirty and I want to wash it. Please pick up one basketball and navigate to the bathroom. | null | 90 | {"steps": 40, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "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(BasketBall)", "Rotate(left, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", ... | [{"type": "object_in_room", "object_type": "BasketBall", "room_type": "Bathroom"}] | ["BasketBall"] | AND | My basketball is dirty and I want to wash it. Please pick up one basketball and navigate to the bathroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 330 | null |
procthor | procthor208 | Relocate tennis racket to bathroom | I am going out to play soon and need to clean my gear first. Please take the tennis racket and carry it to the bathroom for me. | null | 102 | {"steps": 46, "actions": ["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)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)... | [{"type": "object_in_room", "object_type": "TennisRacket", "room_type": "Bathroom"}] | ["TennisRacket"] | AND | I am going out to play soon and need to clean my gear first. Please take the tennis racket and carry it to the bathroom for me. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 332 | null |
procthor | procthor209 | Deliver tomato to bedroom | I am feeling a bit hungry. Please pick up one tomato and carry it to the bedroom. | null | 54 | {"steps": 22, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Pick(Tomato)", "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(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(f... | [{"type": "object_in_room", "object_type": "Tomato", "room_type": "Bedroom"}] | ["Tomato"] | AND | I am feeling a bit hungry. Please pick up one tomato and carry it to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 332 | null |
procthor | procthor210 | Decorate bedroom with vase | I want to decorate my bedroom. Please pick up one vase and relocate it to the bedroom. | null | 70 | {"steps": 30, "actions": ["Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "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)", "Pick(Vase)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forwar... | [{"type": "object_in_room", "object_type": "Vase", "room_type": "Bedroom"}] | ["Vase"] | AND | I want to decorate my bedroom. Please pick up one vase and relocate it to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 333 | null |
procthor | procthor211 | Transport bread to bedroom | I am hungry. Please find the bread and carry it into the bedroom for me. | null | 54 | {"steps": 22, "actions": ["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)", "Pick(Bread)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(... | [{"type": "object_in_room", "object_type": "Bread", "room_type": "Bedroom"}] | ["Bread"] | AND | I am hungry. Please find the bread and carry it into the bedroom for me. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 333 | null |
procthor | procthor212 | Box relocation to kitchen | I am planning to organize some items in the kitchen. Please pick up the box and move it to the kitchen for me. | null | 76 | {"steps": 33, "actions": ["Rotate(right, 90)", "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(forward, 0.25)", "Pick(Box)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move... | [{"type": "object_in_room", "object_type": "Box", "room_type": "Kitchen"}] | ["Box"] | AND | I am planning to organize some items in the kitchen. Please pick up the box and move it to the kitchen for me. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 335 | null |
procthor | procthor213 | Bowl relocation to kitchen | I just finished my snack and need to tidy up. Please pick up one bowl and carry it over to the kitchen. | null | 144 | {"steps": 67, "actions": ["Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "... | [{"type": "object_in_room", "object_type": "Bowl", "room_type": "Kitchen"}] | ["Bowl"] | AND | I just finished my snack and need to tidy up. Please pick up one bowl and carry it over to the kitchen. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 335 | null |
procthor | procthor214 | Deliver apple to bedroom | I would like to have some fruit before I go to sleep. Please pick up the apple and carry it to the bedroom. | null | 76 | {"steps": 33, "actions": ["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(left, 0.25)", "Move(left, 0.25)", "Pick(Apple)", "Rotate(right, ... | [{"type": "object_in_room", "object_type": "Apple", "room_type": "Bedroom"}] | ["Apple"] | AND | I would like to have some fruit before I go to sleep. Please pick up the apple and carry it to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 343 | null |
procthor | procthor215 | Enhance kitchen decor with statue | I want to decorate the kitchen. Please pick up one statue and move it to the kitchen. | null | 94 | {"steps": 42, "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)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25... | [{"type": "object_in_room", "object_type": "Statue", "room_type": "Kitchen"}] | ["Statue"] | AND | I want to decorate the kitchen. Please pick up one statue and move it to the kitchen. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 345 | null |
procthor | procthor216 | Newspaper relocation to bedroom | I want to read the newspaper before going to sleep. Please pick up one newspaper and carry it to the bedroom. | null | 94 | {"steps": 42, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Pick(Newspaper)", "Rotate(right, 90)", "Move(... | [{"type": "object_in_room", "object_type": "Newspaper", "room_type": "Bedroom"}] | ["Newspaper"] | AND | I want to read the newspaper before going to sleep. Please pick up one newspaper and carry it to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 401 | null |
procthor | procthor217 | Deliver wine bottle to bedroom | I want to have a drink before going to sleep. Please pick up the wine bottle and move it to the bedroom for me. | null | 80 | {"steps": 35, "actions": ["Rotate(right, 90)", "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, 0.25)", "Pick(WineBottle)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "M... | [{"type": "object_in_room", "object_type": "WineBottle", "room_type": "Bedroom"}] | ["WineBottle"] | AND | I want to have a drink before going to sleep. Please pick up the wine bottle and move it to the bedroom for me. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 406 | null |
procthor | procthor218 | Transport teddy bear to bathroom | I think a teddy bear needs a wash. Please pick one up and carry it to the bathroom for me. | null | 70 | {"steps": 30, "actions": ["Move(right, 0.25)", "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, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward,... | [{"type": "object_in_room", "object_type": "TeddyBear", "room_type": "Bathroom"}] | ["TeddyBear"] | AND | I think a teddy bear needs a wash. Please pick one up and carry it to the bathroom for me. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 410 | null |
procthor | procthor219 | Fill cup and transport to bedroom | I am feeling thirsty and want some water before I go to sleep. Please fill the cup with water and then carry it to the bedroom for me. | null | 60 | {"steps": 25, "actions": ["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, 1.0)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Manipulate(Cup, wat... | [{"type": "object_in_room", "object_type": "Cup", "room_type": "Bedroom"}, {"type": "object_state", "object_type": "Cup", "field": "isFilledWithLiquid", "value": true, "liquid": "water"}] | ["Cup"] | AND | I am feeling thirsty and want some water before I go to sleep. Please fill the cup with water and then carry it to the bedroom for me. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 411 | null |
procthor | procthor300 | Fill Bowl with Water, Wait by Table | I'm thirsty. Please fill a bowl with water and wait beside the table. | null | 84 | {"steps": 37, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Tilt(down, 30)", "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(left, 0.25)", "Move(forward, 1.0)", "Mo... | [{"type": "object_state", "object_type": "Bowl", "state": "isFilledWithLiquid", "value": true}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}] | ["Bowl"] | AND | I'm thirsty. Please fill a bowl with water and wait beside the table. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 130 | null |
procthor | procthor301 | Open Toilet Lid, Wait by Toilet | I need to use the bathroom. Please open the toilet lid and wait beside it. | null | 98 | {"steps": 44, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(fo... | [{"type": "object_state", "object_type": "Toilet", "state": "isOpen", "value": true}, {"type": "agent_in_room", "room_type": "Bathroom"}, {"type": "agent_near_object", "object_type": "Toilet", "distance": 1.5}] | ["Toilet"] | AND | I need to use the bathroom. Please open the toilet lid and wait beside it. | Daily Household (Bathroom) | Conditional | Level3 Hybrid | null | null | null | null | 130 | null |
procthor | procthor302 | Pick up Plunger, Wait by Toilet. | The toilet is dirty. Please pick up the plunger and wait beside the toilet while I clean it. | null | 110 | {"steps": 50, "actions": ["Move(left, 0.25)", "Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(forward, 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(fo... | [{"type": "object_state", "object_type": "Plunger", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bathroom"}, {"type": "agent_near_object", "object_type": "Toilet", "distance": 1.5}] | ["Plunger", "Toilet"] | AND | The toilet is dirty. Please pick up the plunger and wait beside the toilet while I clean it. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 130 | null |
procthor | procthor303 | Pick up Basketball, Wait by Bed | A basketball on the floor is blocking the way. Please pick it up and stand by a bed. | null | 70 | {"steps": 30, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(right, 90)", "Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(BasketBall)", "Move(left, 0.25)", "Rotate(left, 90)", "Mov... | [{"type": "object_state", "object_type": "BasketBall", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}] | ["BasketBall", "Bed"] | AND | The basketball on the floor is blocking the way. Please pick it up and stand by the bed. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 130 | null |
procthor | procthor304 | bring a basketball | I want to play the basketball. Please bring a basketball in the Bedroom. | null | 34 | {"steps": 12, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "Pick(BasketBall)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "BasketBall", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "BasketBall", "distance": 1.5}] | ["BasketBall"] | AND | I want to play the basketball. Please bring a basketball in the Bedroom. | Entertainment (Game/Sports) | Conditional | Level3 Hybrid | null | null | null | null | 130 | null |
procthor | procthor305 | Make Bed, Wait by Bed | I'm going to sleep, but a bed is messy. Please tidy a bed and wait beside it. | null | 40 | {"steps": 15, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "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)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 1.0)", "Manipulate(Bed, cle... | [{"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 2}] | ["Bed"] | AND | I'm going to sleep, but a bed is messy. Please tidy a bed and wait beside it. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 129 | null |
procthor | procthor306 | Turn On Computer, Wait by Computer | I'm ready to work. Please turn on a computer and wait beside it. | null | 44 | {"steps": 17, "actions": ["Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 0.25)",... | [{"type": "object_state", "object_type": "Laptop", "state": "isOpen", "value": true}, {"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}, {"type": "agent_near_object", "object_type": "Laptop", "distance": 1.5}] | ["Bed"] | AND | I'm ready to work. Please turn on a computer and wait beside it. | Study and Work | Conditional | Level3 Hybrid | null | null | null | null | 129 | null |
procthor | procthor307 | Slice Bread, Wait by Table | I plan to eat bread. Please slice a bread and wait beside a table. | null | 56 | {"steps": 23, "actions": ["Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "... | [{"type": "object_state", "object_type": "Bread", "state": "isSliced", "value": true}, {"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}] | ["Bread", "DiningTable"] | AND | I plan to eat bread. Please slice a bread and wait beside a table. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 127 | null |
procthor | procthor308 | Pick up Phone, Wait by Sofa | I'm ready to work. Please pick up the phone from the sofa and wait beside the sofa. | null | 54 | {"steps": 22, "actions": ["Move(forward, 0.5)", "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, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Tilt(down, 30)", "Move(left, 0.25)", "Move(left, 0.25)", "Move(left, 0.25)"... | [{"type": "object_state", "object_type": "CellPhone", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}] | ["CellPhone", "Sofa"] | AND | I'm ready to work. Please pick up the phone from the sofa and wait beside the sofa. | Study and Work | Conditional | Level3 Hybrid | null | null | null | null | 20 | null |
procthor | procthor309 | Pick up Book from Cabinet | I want to read a book. Please pick up a book. | null | 144 | {"steps": 67, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "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)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "M... | [{"type": "object_state", "object_type": "Book", "state": "isPickedUp", "value": true}] | ["Book"] | AND | I want to read a book. Please pick up a book. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 65 | null |
procthor | procthor310 | Put RemoteControl on DiningTable, Wait by Table | I'm going to have a meal. Please move the RemoteControl from the sofa to the dining table, then wait beside the table. | null | 130 | {"steps": 60, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.... | [{"type": "object_in_receptacle", "object_type": "RemoteControl", "receptacle_type": "DiningTable", "value": "true"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}] | ["RemoteControl", "Sofa", "DiningTable"] | AND | I'm going to have a meal. Please move the RemoteControl from the sofa to the dining table, then wait beside the table. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 65 | null |
procthor | procthor311 | Pick up BaseballBat, Wait by Dresser | A BaseballBat fell on the floor. Please pick up the BaseballBat and wait beside the dresser. | null | 158 | {"steps": 74, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(forward, 1.0)", "Rotate(left, 90)", "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, 0.5)", "Rotate(right, 90... | [{"type": "object_state", "object_type": "BaseballBat", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Dresser", "distance": 1.5}] | ["BaseballBat", "Dresser"] | AND | A BaseballBat fell on the floor. Please pick up the BaseballBat and wait beside the dresser. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 65 | null |
procthor | procthor312 | Tidy Bed, Wait by Bed | The bed is dirty. Please tidy the bed and wait beside it. | null | 48 | {"steps": 19, "actions": ["Move(right, 0.25)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(backwar... | [{"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}, {"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}] | ["Bed"] | AND | The bed is dirty. Please tidy the bed and wait beside it. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 68 | null |
procthor | procthor313 | Turn On CoffeeMachine, Wait by CoffeeMachine | I want to make coffee. Please turn on a coffee machine and wait beside it. | null | 36 | {"steps": 13, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Tilt(down, 30)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "ChangeState(CoffeeMachine, on)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "CoffeeMachine", "state": "isToggled", "value": true}, {"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "agent_near_object", "object_type": "CoffeeMachine", "distance": 1.5}] | ["CoffeeMachine"] | AND | I want to make coffee. Please turn on a coffee machine and wait beside it. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 73 | null |
procthor | procthor314 | Throw Away DishSponge, Wait by TrashCan | A dishsponge is broken. Please throw it into a trash can, then wait beside the trash can. | null | 80 | {"steps": 35, "actions": ["Move(forward, 1.0)", "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)", "Tilt(down, 30)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(DishSponge)", "... | [{"type": "object_in_receptacle", "object_type": "DishSponge", "receptacle_type": "GarbageCan", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "GarbageCan", "distance": 1.5}] | ["DishSponge", "GarbageCan"] | AND | A dishsponge is broken. Please throw it into a trash can, then wait beside the trash can. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 74 | null |
procthor | procthor316 | Pick up Newspaper, Wait by Sofa | I will read the newspaper on the sofa later. Please pick up the newspaper on the sofa and wait beside the sofa. | null | 66 | {"steps": 28, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)"... | [{"type": "object_state", "object_type": "Newspaper", "state": "isPickedUp", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}] | ["Newspaper", "Sofa"] | AND | I will read the newspaper on the sofa later. Please pick up the newspaper on the sofa and wait beside the sofa. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 84 | null |
procthor | procthor317 | Turn On TV, Wait by Sofa | I want to watch TV. Please turn on a TV, then wait beside a sofa. | null | 54 | {"steps": 22, "actions": ["Tilt(down, 30)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "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, 0.25)", "Rotate(left, 90)", "M... | [{"type": "object_state", "object_type": "Television", "state": "isToggled", "value": true}, {"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "agent_near_object", "object_type": "Sofa", "distance": 1.5}] | ["Television", "Sofa"] | AND | I want to watch TV. Please turn on a TV, then wait beside a sofa. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 91 | null |
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