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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
procthor | procthor318 | Turn On DeskLamp, Wait by DiningTable. | I want to work. Please turn on a desk lamp, then wait beside a dining table. | null | 40 | {"steps": 15, "actions": ["Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.5)", "Tilt(down, 30)", "Move(forward, 1.0)", "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)", "Rotate(right, 90)", "ChangeState(DeskLamp, o... | [{"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": true}, {"type": "agent_in_room", "room_type": "bedroom"}, {"type": "agent_near_object", "object_type": "DiningTable", "distance": 1.5}] | ["DeskLamp", "DiningTable"] | AND | I want to work. Please turn on a desk lamp, then wait beside a dining table. | Study and Work | Conditional | Level3 Hybrid | null | null | null | null | 94 | null |
procthor | procthor400 | Bread and Box Relocation | 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. | null | 86 | {"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, 0.2... | [{"type": "object_in_room", "object_type": "Bread", "room_type": "Bedroom"}, {"type": "object_in_room", "object_type": "Box", "room_type": "Kitchen"}] | ["Bread", "Box"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 400 | null |
procthor | procthor401 | Candle Delivery to Kitchen | The power is out. Please go to the living room, pick up a candle from the table, and bring it to the kitchen. | null | 132 | {"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... | [{"type": "object_in_room", "object_type": "Candle", "room_type": "Kitchen"}] | ["Candle"] | AND | The power is out. Please go to the living room, pick up a candle from the table, and bring it to the kitchen. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 400 | null |
procthor | procthor402 | Basketball Delivery to Bathroom | 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. | null | 90 | {"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... | [{"type": "object_in_room", "object_type": "BasketBall", "room_type": "Bathroom"}] | ["BasketBall"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 400 | null |
procthor | procthor403 | Newspaper Delivery for Reading | I'm ready to read the newspaper. Please get a newspaper from the living room and bring it to the bedroom. | null | 70 | {"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)"... | [{"type": "object_in_room", "object_type": "Newspaper", "room_type": "Bedroom"}] | ["Newspaper"] | AND | I'm ready to read the newspaper. Please get a newspaper from the living room and bring it to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 401 | null |
procthor | procthor404 | Dish Sponge Retrieval for Cleaning | I want to clean the desk in the bedroom. Please go to the bathroom, get a dish sponge, and bring it to the bedroom. | null | 106 | {"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)",... | [{"type": "object_in_room", "object_type": "DishSponge", "room_type": "Bedroom"}] | ["DishSponge"] | AND | I want to clean the desk in the bedroom. Please go to the bathroom, get a dish sponge, and bring it to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 401 | null |
procthor | procthor405 | Knife Delivery for Unboxing | 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. | null | 74 | {"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.... | [{"type": "object_in_room", "object_type": "Knife", "room_type": "Bedroom"}] | ["Knife"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 403 | null |
procthor | procthor406 | Laptop Activation and Keys Delivery | 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. | null | 132 | {"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, ... | [{"type": "object_in_room", "object_type": "KeyChain", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "Laptop", "state": "isOpen", "value": true}] | ["KeyChain", "Laptop"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 403 | null |
procthor | procthor407 | Tennis Racket Relocation | The tennis racket is dirty. Please go to the bedroom, pick up the tennis racket, and bring it to the bathroom. | null | 88 | {"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)", "Mo... | [{"type": "object_in_room", "object_type": "TennisRacket", "room_type": "Bathroom"}] | ["TennisRacket"] | AND | The tennis racket is dirty. Please go to the bedroom, pick up the tennis racket, and bring it to the bathroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 404 | null |
procthor | procthor408 | Wine Bottle Delivery to Bedroom | I'd like to have some wine. Please go to the kitchen, get the wine bottle, and bring it to the bedroom. | null | 70 | {"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)... | [{"type": "object_in_room", "object_type": "WineBottle", "room_type": "Bedroom"}] | ["WineBottle"] | AND | I'd like to have some wine. Please go to the kitchen, get the wine bottle, and bring it to the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 406 | null |
procthor | procthor409 | Baseball Bat Delivery to LivingRoom | 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. | null | 136 | {"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)"... | [{"type": "object_in_room", "object_type": "BaseballBat", "room_type": "LivingRoom"}] | ["BaseballBat"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 406 | null |
procthor | procthor410 | Teddy Bear Delivery to Bathroom | 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. | null | 104 | {"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(le... | [{"type": "object_in_room", "object_type": "TeddyBear", "room_type": "Bathroom"}] | ["TeddyBear"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 407 | null |
procthor | procthor411 | Basketball Delivery to Kitchen | I'm getting ready to play basketball. Please go to the bedroom, pick up the basketball, and bring it to the kitchen. | null | 92 | {"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)", "Mo... | [{"type": "object_in_room", "object_type": "BasketBall", "room_type": "Kitchen"}] | ["BasketBall"] | AND | I'm getting ready to play basketball. Please go to the bedroom, pick up the basketball, and bring it to the kitchen. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 407 | null |
procthor | procthor412 | DishSponge Delivery to Bathroom | I am going to clean the bathroom. Please go to the kitchen, pick up a dishsponge, and bring it to the bathroom. | null | 146 | {"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... | [{"type": "object_in_room", "object_type": "DishSponge", "room_type": "Bathroom"}] | ["DishSponge"] | AND | I am going to clean the bathroom. Please go to the kitchen, pick up a dishsponge, and bring it to the bathroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 407 | null |
procthor | procthor413 | Laptop Delivery to Kitchen | I have some urgent tasks to handle. Please go to the bedroom and bring a laptop to the kitchen for me. | null | 76 | {"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,... | [{"type": "object_in_room", "object_type": "Laptop", "room_type": "Kitchen"}] | ["Laptop"] | AND | I have some urgent tasks to handle. Please go to the bedroom and bring a laptop to the kitchen for me. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 407 | null |
procthor | procthor414 | Soap Disposal to Kitchen Garbage Can | 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. | null | 104 | {"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(fo... | [{"type": "object_in_room", "object_type": "SoapBar", "room_type": "Kitchen"}, {"type": "object_in_receptacle", "object_type": "SoapBar", "receptacle_type": "GarbageCan"}] | ["SoapBar"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 408 | null |
procthor | procthor415 | Electronics Relocation to Living Room | 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. | null | 136 | {"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)... | [{"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", "r... | ["CellPhone", "Laptop"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 408 | null |
procthor | procthor419 | Bed Cleaning and Items Relocation | 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. | null | 210 | {"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)", "Ro... | [{"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", "recep... | ["RemoteControl", "AlarmClock", "Pillow"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 419 | null |
procthor | procthor501 | Turn off floor lamp and prepare the 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 a 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 a 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 | procthor502 | Turn off desk lamp and bring phone to bedside | 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. | 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 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 154 | null |
procthor | procthor600 | Clear walkway and bedside relocation | I am finishing my day. To keep the walkways clear, please relocate to the bedroom and position yourself by a bedside. | null | 56 | {"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... | [{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}] | ["Bed"] | AND | I am finishing my day. To keep the walkways clear, please relocate to the bedroom and position yourself by a bedside. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 105 | null |
procthor | procthor601 | Fetch the pen | I want to start studying. Please move to the living room and fetch a pen from the table in the living room. | null | 58 | {"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(rig... | [{"type": "agent_in_room", "room_type": "Livingroom"}, {"type": "object_state", "object_type": "Pen", "state": "isPickedUp", "value": true}] | ["Pen"] | AND | I want to start studying. Please move to the living room and fetch a pen from the table in the living room. | Study and Work | Conditional | Level3 Hybrid | null | null | null | null | 135 | null |
procthor | procthor602 | Go to the kitchen and get the tomato | I am hungry. Please move to the kitchen and get the tomato from the stove in the kitchen. | null | 112 | {"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, ... | [{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "object_state", "object_type": "Tomato", "state": "isPickedUp", "value": true}] | ["Tomato"] | AND | I am hungry. Please move to the kitchen and get the tomato from the stove in the kitchen. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 125 | null |
procthor | procthor603 | Bedside standby | I am going to sleep. Please proceed to the bedroom and position yourself at a bedside to remain available for my assistance. | null | 92 | {"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, ... | [{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}] | ["Bed"] | AND | I am going to sleep. Please proceed to the bedroom and position yourself at a bedside to remain available for my assistance. | Daily Household (Kitchen/Bedroom) | Conditional | Level1 Navigation | null | null | null | null | 125 | null |
procthor | procthor604 | Go to open the book | 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. | null | 54 | {"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)"... | [{"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}] | ["Book", "Sofa"] | AND | 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. | Study and Work | Conditional | Level3 Hybrid | null | null | null | null | 128 | null |
procthor | procthor605 | Fetch apple to sofa | 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. | null | 70 | {"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(r... | [{"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}] | ["Apple", "Sofa"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 333 | null |
procthor | procthor606 | Fetch alarm to bed | 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. | null | 108 | {"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)",... | [{"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}] | ["Bed", "AlarmClock", "Dresser"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 334 | null |
procthor | procthor607 | Fetch phone to bedside | I want to relax. Please fetch the phone from the table and navigate to the bedside in the bedroom. | null | 82 | {"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)",... | [{"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}] | ["cellphone", "Bed"] | AND | I want to relax. Please fetch the phone from the table and navigate to the bedside in the bedroom. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 335 | null |
procthor | procthor608 | Turn on the laptop | I want to study. Please move to the living room and turn on a laptop. | null | 30 | {"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}] | ["Laptop"] | AND | I want to study. Please move to the living room and turn on a laptop. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 333 | null |
procthor | procthor609 | Bring remote control to sofa | 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. | null | 112 | {"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)",... | [{"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}] | ["RemoteControl", "Sofa"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 101 | null |
procthor | procthor610 | Bring apple to sofa | I want to relax. Please fetch the apple in the kitchen and move to the sofa in the living room. | null | 36 | {"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}] | ["Apple", "Sofa"] | AND | I want to relax. Please fetch the apple in the kitchen and move to the sofa in the living room. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 111 | null |
procthor | procthor611 | Bring book to table | I want to read. Please fetch the book in the bedroom and move to a dining table in the living room. | null | 50 | {"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)", "Mo... | [{"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}] | ["Book", "DiningTable"] | AND | I want to read. Please fetch the book in the bedroom and move to a dining table in the living room. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 122 | null |
procthor | procthor612 | Turn off the desk lamp | I am going to relax. Please move to the living room and turn off a desk lamp. | null | 68 | {"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)... | [{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}] | ["DeskLamp"] | AND | I am going to relax. Please move to the living room and turn off a desk lamp. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 123 | null |
procthor | procthor613 | Open the box | Please move to the bedroom and open the box there to check if there is anything inside. | null | 38 | {"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(... | [{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "object_state", "object_type": "Box", "state": "isOpen"}] | ["Box"] | AND | Please move to the bedroom and open the box there to check if there is anything inside. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 68 | null |
procthor | procthor614 | Turn on the faucet | I am going to wash my face. Please navigate to the bathroom and turn on a faucet there. | null | 56 | {"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)", "M... | [{"type": "agent_in_room", "room_type": "bathroom"}, {"type": "object_state", "object_type": "Faucet", "state": "isToggled"}] | ["Faucet"] | AND | I am going to wash my face. Please navigate to the bathroom and turn on a faucet there. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 99 | null |
procthor | procthor615 | Fetch the tomato | I am going to cook. Please navigate to the kitchen, find the tomato and then pick it up. | null | 66 | {"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, 0.2... | [{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "object_state", "object_type": "Tomato", "state": "isPickedUp"}] | ["Tomato"] | AND | I am going to cook.Please navigate to the kitchen,find the tomato and then pick it up. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 9 | null |
procthor | procthor616 | Open the faucet | I am going to wash my hands. Please navigate to the bathroom and turn on the faucet there. | null | 92 | {"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... | [{"type": "agent_in_room", "room_type": "bathroom"}, {"type": "object_state", "object_type": "Faucet", "state": "isToggled"}] | ["Faucet"] | AND | I am going to wash my hands.Please navigate to the bathroom and turn on the faucet there. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 10 | null |
procthor | procthor617 | Take the phone to the countertop | 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. | null | 68 | {"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)", "Mo... | [{"type": "agent_in_room", "room_type": "Kitchen"}, {"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "CounterTop"}] | ["CounterTop", "CellPhone"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 103 | null |
procthor | procthor618 | Clean the bedroom | 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. | null | 62 | {"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)",... | [{"type": "agent_in_room", "room_type": "Bedroom"}, {"type": "object_in_receptacle", "object_type": "BaseballBat", "receptacle_type": "Dresser"}] | ["BaseballBat", "Dresser"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 18 | null |
procthor | procthor619 | Clean the living room | 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. | null | 76 | {"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... | [{"type": "agent_in_room", "room_type": "LivingRoom"}, {"type": "object_in_receptacle", "object_type": "Newspaper", "receptacle_type": "DiningTable"}] | ["Newspaper", "DiningTable"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 155 | null |
procthor | procthor700 | bring the spray bottle | I want to clean the dog bed. Please bring the spray bottle next to the dog bed. | null | 76 | {"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... | [{"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}] | ["DogBed", "SprayBottle"] | AND | I want to clean the dog bed. Please bring the spray bottle next to the dog bed. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 200 | null |
procthor | procthor701 | Pick up the basketball and wait by the sofa | I want to play basketball in the living room. Please pick up the basketball and stand beside the sofa and wait for me. | null | 86 | {"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(le... | [{"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}] | ["Sofa", "BasketBall"] | AND | I want to play basketball in the living room. Please pick up the basketball and stand beside the sofa and wait for me. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 200 | null |
procthor | procthor702 | Microwave standby with alarm clock | I want to cook. Please pick up the alarm clock and stand beside the microwave in the kitchen. | null | 66 | {"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)"... | [{"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}] | ["Microwave", "AlarmClock"] | AND | I want to cook. Please pick up the alarm clock and stand beside the microwave in the kitchen. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 200 | null |
procthor | procthor703 | Bedside with eggs | I want to have breakfast in bed. Please pick up the eggs and stand by the bed. | null | 106 | {"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, ... | [{"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}] | ["Bed", "Egg"] | AND | I want to have breakfast in bed. Please pick up the eggs and stand by the bed. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 200 | null |
procthor | procthor704 | Turn off floor lamp and wait by bed | 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. | null | 84 | {"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... | [{"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}] | ["Bed", "FloorLamp"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 200 | null |
procthor | procthor705 | Bring Sponge, Stand by Toilet | I want to clean the toilet. Please pick up a dish sponge and stand next to the toilet while I wait. | null | 38 | {"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}] | ["DishSponge", "Toilet"] | AND | I want to clean the toilet. Please pick up a dish sponge and stand next to the toilet while I wait. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 221 | null |
procthor | procthor706 | Bring Basketball, Wait by Sofa | I'd like to play basketball. Please pick up the basketball and stand by the sofa in the living room while I wait. | null | 136 | {"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.... | [{"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}] | ["BasketBall", "Sofa"] | AND | I'd like to play basketball. Please pick up the basketball and stand by the sofa in the living room while I wait. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 221 | null |
procthor | procthor707 | Bring Cloth, Stand by Bed | I'd like to wipe the bed. Please pick up a cloth and stand beside the bed while I wait. | null | 60 | {"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)", "Mo... | [{"type": "object_state", "object_type": "Cloth", "state": "isPickedUp", "value": true}, {"type": "agent_near_object", "object_type": "Bed", "distance": 1.5}] | ["Cloth", "Bed"] | AND | I'd like to wipe the bed. Please pick up a cloth and stand beside the bed while I wait. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 221 | null |
procthor | procthor708 | Bring Laptop, Stand by Sofa | 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. | null | 122 | {"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)... | [{"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}] | ["Laptop", "Sofa"] | AND | 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. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 221 | null |
procthor | procthor709 | Bring Keychain, Wait by Sofa | I'm going out. Please take a keychain and wait for me by the sofa. | null | 138 | {"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,... | [{"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}] | ["KeyChain", "Sofa"] | AND | I'm going out. Please take a keychain and wait for me by the sofa. | Daily Household (Kitchen/Bedroom) | Conditional | Level3 Hybrid | null | null | null | null | 221 | null |
virtualhome | virtualhome00000 | open the tv | open the tv | 0 | 20 | {"steps": 2, "actions": ["ChangeState(tv, on)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "tv", "state": "isToggled", "value": true}] | ["tv"] | AND | open the tv | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00001 | Please open the microwave and fridge. | I want to eat something. Please open the microwave and refrigerator doors. I'd like to heat something up. | 6 | 50 | {"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}] | ["microwave", "fridge"] | AND | I want to eat something. Please open the microwave and refrigerator doors. I'd like to heat something up. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00002 | Can't find my keyboard. Help me locate and show it? | I can't find my keyboard. Could you help me locate it and pick it up to show me? | 6 | 50 | {"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(k... | [{"type": "object_state", "object_type": "keyboard", "state": "isPickedUp", "value": true}] | ["keyboard"] | AND | I can't find my keyboard. Could you help me locate it and pick it up to show me? | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00003 | Turn on the sink please. | Turn on the sink please. I want to wash my face. | 6 | 50 | {"steps": 2, "actions": ["ChangeState(faucet, on)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "faucet", "state": "isToggled"}] | ["faucet"] | AND | Turn on the sink please. I want to wash my face. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00005 | Pass the pie to me. | I'm a bit hungry. Can you see the pie on the table? Pass it to me. | 6 | 50 | {"steps": 2, "actions": ["Pick(pie)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "pie", "state": "isPickedUp"}] | ["pie"] | AND | I'm a bit hungry. Can you see the pie on the table? Pass it to me. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00006 | Turn off the desk lamp. | I'm going to sleep. Could you turn off the desk lamp? It's a bit too bright. | 6 | 50 | {"steps": 5, "actions": ["TurnRight(small)", "WalkForward(large)", "WalkForward(large)", "ChangeState(tablelamp, off)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "tablelamp", "state": "isToggled", "value": false}] | ["tablelamp"] | AND | I'm going to sleep. Could you turn off the desk lamp? It's a bit too bright. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00007 | Find my phone and put it on the TV stand. | I can't find my phone. Could you help me look for it? Please put it on the TV stand when you find it. | 6 | 50 | {"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}] | ["cellphone", "tvstand"] | AND | I can't find my phone. Could you help me look for it? Please put it on the TV stand when you find it. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00008 | Turn on the computer. | I'm starting work now. Could you walk over to my computer and turn it on? | 6 | 50 | {"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)"... | [{"type": "object_state", "object_type": "computer", "state": "isToggled"}] | ["computer"] | AND | I'm starting work now. Could you walk over to my computer and turn it on? | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00009 | Turn on the computer. | 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. | 6 | 50 | {"steps": 5, "actions": ["WalkForward(large)", "WalkForward(large)", "Tilt(down, 30)", "ChangeState(computer, on)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "computer", "state": "isToggled"}] | ["computer"] | AND | 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. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00010 | Open the toilet. | I have a bit of a stomachache. Help me open the toilet, thanks! | 6 | 50 | {"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"}] | ["toilet"] | AND | I have a bit of a stomachache. Help me open the toilet, thanks! | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00011 | Clean up the dish bowl and put it on the kitchen table. | I'm done eating. Can you see the dish bowl on the table? Clean up and put it on the kitchen table. | 2 | 50 | {"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, kitchent... | [{"type": "object_in_receptacle", "object_type": "dishbowl", "receptacle_type": "kitchentable", "value": true}] | ["dishbowl", "kitchentable"] | AND | I'm done eating. Can you see the dish bowl on the table? Clean up and put it on the kitchen table. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00012 | Turn on the faucet. | I want to wash my face. Help me turn on the faucet. | 6 | 50 | {"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}] | ["faucet"] | AND | I want to wash my face. Help me turn on the faucet. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00013 | Turn off the lights in this room. | 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. | 1 | 50 | {"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}] | ["lightswitch"] | AND | 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. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00014 | Turn off the ceiling light. | Can you see the ceiling light switch by the door? Please walk over and turn it off. I'm going to sleep. | 2 | 50 | {"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}] | ["lightswitch"] | AND | Can you see the ceiling light switch by the door? Please walk over and turn it off. I'm going to sleep. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00015 | Pick up the mouse. | 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. | 15 | 50 | {"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)", ... | [{"type": "object_state", "object_type": "mouse", "state": "isPickedUp"}] | ["mouse"] | AND | 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. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00017 | Find my folder and pick it up. | Have you seen my folder? Pick it up for me if you find it. | 17 | 50 | {"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)", "Walk... | [{"type": "object_state", "object_type": "folder", "state": "isPickedUp", "value": true}] | ["folder"] | AND | Have you seen my document? Pick it up for me if you find it. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00018 | Open the cabinet. | I'm looking for something. Help me open the cabinet. | 17 | 50 | {"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"}] | ["cabinet"] | AND | I'm looking for something. Help me open the cabinet. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00019 | Turn off the light. | 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 | 17 | 50 | {"steps": 5, "actions": ["WalkForward(large)", "WalkForward(large)", "TurnLeft(small)", "ChangeState(lightswitch, off)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "lightswitch", "state": "isToggled", "value": false}] | ["lightswitch"] | AND | 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 | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00020 | Find my toothbrush and pick it up. | I'm brushing my teeth, but I can't find my toothbrush. Can you help me look for it and pick it up? | 20 | 50 | {"steps": 5, "actions": ["WalkForward(large)", "Tilt(down, 30)", "WalkForward(large)", "Pick(toothbrush)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "toothbrush", "state": "isPickedUp", "value": true}] | ["toothbrush"] | AND | I'm brushing my teeth, but I can't find my toothbrush. Can you help me look for it and pick it up? | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00100 | open the fridge | I'd like to find something to eat, please open the refrigerator. | 0 | 50 | {"steps": 5, "actions": ["WalkForward(large)", "WalkForward(large)", "TurnLeft(small)", "Manipulate(fridge, open)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "fridge", "state": "isOpen", "value": true}] | ["fridge"] | AND | I'd like to find something to eat, please open the refrigerator. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00101 | open the microwave | I'd like to heat up some food. Please open the microwave door. | 0 | 50 | {"steps": 4, "actions": ["WalkForward(large)", "WalkForward(large)", "Manipulate(microwave, open)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "microwave", "state": "isOpen", "value": true}] | ["microwave"] | AND | I'd like to heat up some food. Please open the microwave door. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00102 | Place the pie on the kitchen counter. | I'm full. Please put the pie on the kitchen counter; I'll prepare it later. | 0 | 50 | {"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}] | ["pie"] | AND | I'm full. Please put the pie on the kitchen counter; I'll prepare it later. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00103 | Place the salmon in the microwave and turn it on. Remember to close the microwave door. | Place the salmon in the microwave and turn it on. Remember to close the microwave door. | 0 | 50 | {"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}] | ["microwave"] | AND | Place the salmon in the microwave and turn it on. Remember to close the microwave door. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00104 | Place the salmon in the refrigerator. | I need to tidy up the kitchen. Please open the refrigerator door and put the salmon inside, but do not close the refrigerator door. | 0 | 50 | {"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}] | ["microwave"] | AND | I need to tidy up the kitchen. Please open the refrigerator door and put the salmon inside, but do not close the refrigerator door. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00105 | Turn on the computer. | I'm going to start working now, please turn on your computer. | 0 | 50 | {"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}] | ["computer"] | AND | I'm going to start working now, please turn on your computer. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00107 | Turn on the computer | I want to start working, please turn on the computer in front of you. | 0 | 50 | {"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}] | ["computer"] | AND | I want to start working, please turn on the computer in front of you. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00108 | Pick up the wineglass. | I'd like to get some water; please feel free to pick up any glass. | 0 | 50 | {"steps": 5, "actions": ["WalkForward(large)", "Tilt(down, 30)", "WalkForward(large)", "Pick(wineglass)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "wineglass", "state": "isPickedUp", "value": true}] | ["wineglass"] | AND | I'd like to get some water; please feel free to pick up any glass. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00109 | Open the coffee pot and turn on the coffee machine. | I'd like to drink coffee. Please open the coffee pot and turn on the coffee machine. | 0 | 50 | {"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}] | ["coffeepot", "coffeemaker"] | AND | I'd like to drink coffee. Please open the coffee pot and turn on the coffee machine. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00110 | Sit on the bed. | I need your help. Please sit on the bed first. | 0 | 50 | {"steps": 5, "actions": ["TurnRight(small)", "Tilt(down, 30)", "WalkForward(large)", "Sit(bed)", "EndTask(success)"]} | [{"type": "object_state", "object_type": "bed", "state": "isSitting", "value": true}] | ["bed"] | AND | I need your help. Please sit on the bed first. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00111 | Put the cellphone back on the bed. | I'd like to use my cellphone. Please put it back on the bed. | 0 | 50 | {"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}] | ["cellphone"] | AND | I'd like to use my cellphone. Please put it back on the bed. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00112 | Turn on the TV and pick up a phone. | I want to have some fun, so please turn on the TV and pick up a phone. | 0 | 50 | {"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}] | ["cellphone", "tv"] | AND | I want to have some fun, so please turn on the TV and pick up a phone. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00113 | Put the remote on the coffee table. | I'd like to watch some TV. Please put the remote on the coffee table. | 0 | 50 | {"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, coffeetab... | [{"type": "object_in_receptacle", "object_type": "remotecontrol", "receptacle_type": "coffeetable", "value": true}] | ["remotecontrol", "coffeetable"] | AND | I'd like to watch some TV. Please put the remote on the coffee table. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00114 | Get a pillow. | I want to rest for a while, please get me a pillow. | 0 | 50 | {"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)... | [{"type": "object_state", "object_type": "pillow", "state": "isPickedUp", "value": true}] | ["pillow"] | AND | I want to rest for a while, please get me a pillow. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00115 | Turn on a computer and pick up a cup from the table. | I'm about to play a game. Please turn on a computer and pick up a cup from the table. | 0 | 50 | {"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}] | ["computer", "mug", "desk"] | AND | I'm about to play a game. Please turn on a computer and pick up a cup from the table. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00116 | Pick up the cupcake | I'm hungry, please pick up the cupcake; I'll eat it later. | 0 | 50 | {"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}] | ["cupcake"] | AND | I'm hungry, please pick up the cupcake; I'll eat it later. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00117 | Place a mobile phone on the table and pick up a mouse. | Please place a mobile phone on the table, and then pick up a mouse. | 0 | 50 | {"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(mo... | [{"type": "object_state", "object_type": "mouse", "state": "isPickedUp", "value": true}, {"type": "object_in_receptacle", "object_type": "cellphone", "receptacle_type": "desk", "value": true}] | ["cellphone", "mouse", "desk"] | AND | Please place a mobile phone on the table, and then pick up a mouse. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00118 | Put a bread slice in the toaster and turn on the toaster. | I'm hungry. Please put a bread slice in the toaster and turn on the toaster. | 0 | 50 | {"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}] | ["breadslice", "toaster"] | AND | I'm hungry. Please put a bread slice in the toaster and turn on the toaster. | null | null | null | null | null | null | null | null | null |
virtualhome | virtualhome00119 | Get a bottle of dish soap and turn on the tap. | I want to clean the kitchen. Please get me a bottle of dish soap and then turn on the tap. | 0 | 50 | {"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}] | ["dishwashingliquid", "faucet"] | AND | I want to clean the kitchen. Please get me a bottle of dish soap and then turn on the tap. | null | null | null | null | null | null | null | null | null |
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