This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the third grid from the right on the second layer

pick up the ice pop and place it into the basket

The robot opened the right cabinet door and picked up a popsicle from the second layer.

pick up the popsicle from the fourth compartment from the right on the second shelf

The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket.

pick up the popsicle and place it into the basket

The robot opened the right cabinet door and transferred two popsicles from the second layer to the basket.

pick up the popsicle from the second compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles from the second layer to the basket.

The robot opened the right cabinet door and transferred three popsicles from the second shelf into the basket.

The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket.

place the ice cream bar into the third compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket, then picked up a popsicle from the basket.

pick up the left popsicle inside the basket

The robot opened the right cabinet door, transferred multiple popsicles from the second shelf to the basket, and returned one ice cream bar to the second shelf.

place the popsicle into the fourth compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles from the second shelf to the basket, and returned one ice cream bar to the third compartment from the right on the second shelf.

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and then returned them to specific compartments on the second shelf of the right cabinet.

place the popsicle into the second compartment from the right on the second shelf

The robot opened the right cabinet door, transferred multiple popsicles and ice pops between the cabinet shelves and the basket, and returned several items to their original compartments.

The robot opened the right cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and organized the popsicles back into specific compartments on the second shelf.

Open the right cabinet door and retrieve three popsicles from the second shelf, specifically from the third, fourth, and second compartments from the right, placing each into the basket. Next, take the left popsicle from the basket and place it into the third compartment from the right on the second shelf. Then, remove the remaining popsicle from the basket and place it into the fourth compartment from the right on the second shelf. Finally, take the last popsicle from the basket and place it into the second compartment from the right on the second shelf before closing the right cabinet door.


pick up the popsicle from the third compartment from the right on the second shelf

The robot opened the right cabinet door and picked up a popsicle from the third compartment from the right on the second shelf.

pick up the ice pop from the fourth compartment from the right on the second shelf

The robot opened the right cabinet door, retrieved a popsicle from the second shelf, and placed it into the basket.

The robot opened the right cabinet door, retrieved two popsicles from the second shelf, and placed one into the basket while holding the other.

The robot opened the right cabinet door and transferred two frozen treats from the second shelf to the basket.

The robot opened the right cabinet door and transferred three frozen treats from the second shelf into the basket.

pick up the middle popsicle in the basket

place the ice cream bar into the second compartment from the right on the second shelf

The robot opened the right cabinet door and transferred three popsicles from the second shelf into the basket before picking up a popsicle from the basket.

pick up the right popsicle inside the basket

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the second shelf to the basket, subsequently placing one ice cream bar back into the second compartment from the right on the second shelf.

The robot opened the right cabinet door and transferred multiple popsicles and ice pops between the cooler shelves and the basket, including placing an ice cream bar back into the second compartment from the right on the second shelf.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the second shelf to the basket, rearranged items within the basket, and returned a popsicle to the second compartment on the second shelf.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler shelves to the basket, rearranged items within the basket, and moved a popsicle from the basket back to the second compartment from the right on the second shelf.

The robot opened the right cabinet door, transferred multiple popsicles and ice cream bars from the second shelf compartments to the basket, and then returned them to the second shelf.

Open the right cabinet door of the beverage cooler. Retrieve the popsicle from the third compartment from the right on the second shelf, followed by the ice pop from the fourth compartment from the right on the second shelf, and then the popsicle from the second compartment from the right on the second shelf, placing each into the basket. Next, take the middle popsicle currently inside the basket and place it into the second compartment from the right on the second shelf. Then, remove the right popsicle from the basket and place it into the third compartment from the right on the second shelf. Finally, take the remaining popsicle from the basket and place it into the third compartment from the right on the second shelf before closing the right cabinet door.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the third grid from the right on the first layer

The robot opened the right cabinet door and picked up a popsicle from the first layer.

pick up the popsicle from the second compartment from the right on the first shelf

The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket.

place the ice cream stick into the basket

The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket.

pick up the popsicle from the first compartment on the right of the second shelf

The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket.

pick up the ice pop and place it into the basket

The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket.

place the popsicle into the third compartment from the right on the first shelf of the right cabinet

The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket, followed by placing an ice cream stick into the basket and adjusting the middle popsicle within the basket.

The robot opened the right cabinet door, transferred multiple popsicles from the cabinet shelves to the basket, and returned one popsicle to the first shelf of the right cabinet.

place the popsicle into the second compartment from the right on the first shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and returned one popsicle to the first shelf of the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and then returned several popsicles to specific compartments on the first shelf of the right cabinet.

place the ice cream bar into the first compartment from the right on the second shelf of the right cabinet

The robot organized the beverage cooler by transferring multiple popsicles from the cabinet shelves to a basket and then redistributing them into specific compartments on the first and second shelves of the right cabinet.

Open the right cabinet door. Pick up the popsicle from the third grid from the right on the first layer and place it into the basket. Next, retrieve the popsicle from the second compartment from the right on the first shelf and the ice cream stick, placing both into the basket. Then, take the popsicle from the first compartment on the right of the second shelf and the ice pop, adding them to the basket as well. Organize the basket by picking up the middle popsicle and placing it into the third compartment from the right on the first shelf of the right cabinet. Pick up the left popsicle from the basket and place it into the second compartment from the right on the first shelf. Finally, pick up the remaining popsicle from the basket and place the ice cream bar into the first compartment from the right on the second shelf. Close the right cabinet door to complete the organization.


pick up the popsicle from the third grid from the right on the second layer

The robot opened the right cabinet door and picked up a popsicle from the second layer.

The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed the ice cream stick into the basket.

The robot opened the right cabinet door, placed an ice cream stick into the basket, and picked up an ice pop from the second shelf.

The robot opened the right cabinet door and transferred multiple ice pops from the cooler shelves into the basket.

pick up the popsicle and place it into the basket

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the shelves into the basket.

pick up the popsicle from the fourth compartment from the right on the first shelf

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various shelves into the basket.

pick up the ice cream on the left side of the basket

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket.

place the popsicle into the fourth compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the shelves into the basket, then picked up an ice cream from the left side of the basket.

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the cabinet shelves into the basket, then returned one popsicle to the second shelf.

place the ice pop into the second compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to the basket, and returned one popsicle to the second shelf of the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to a basket, and subsequently returned several items from the basket to specific compartments on the first and second shelves of the right cabinet.

place the popsicle into the third compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to a basket, and returned some items to the cabinet while holding a popsicle from the basket.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the shelves to the basket, and then returned several items to specific compartments within the right cabinet.

place the popsicle into the fourth compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the shelves to the basket, and then returned several items from the basket to specific compartments on the first and second shelves of the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler shelves to a basket, and subsequently returned them to their original positions within the cabinet.

Open the right cabinet door. Pick up the popsicle from the third grid from the right on the second layer and place the ice cream stick into the basket. Retrieve the ice pop from the fourth compartment from the right on the second shelf and the popsicle from the second compartment from the right on the first shelf, placing both into the basket. Next, take the popsicle from the fourth compartment from the right on the first shelf and put it in the basket. Remove the ice cream currently on the left side of the basket. Return the popsicle to the fourth compartment from the right on the second shelf, the ice pop to the second compartment from the right on the first shelf, and the remaining popsicle to the third compartment from the right on the second shelf. Finally, close the right cabinet door.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the third compartment from the right on the second shelf

The robot opened the right cabinet door and picked up a popsicle from the third compartment from the right on the second shelf.

pick up the popsicle from the fourth compartment from the right on the second shelf

The robot opened the right cabinet door, retrieved a popsicle from the second shelf, and placed the ice cream stick into the basket.

The robot opened the right cabinet door, placed an ice cream stick into the basket, and picked up two popsicles from the second shelf.

The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket.

The robot opened the right cabinet door and transferred multiple popsicles from the second and first shelves into the basket.

pick up the popsicle from the second compartment from the right on the first shelf

The robot opened the right cabinet door and transferred multiple popsicles and an ice pop from various compartments on the first and second shelves into the basket.

pick up the second popsicle from the left in the basket

The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket.

place the ice cream bar into the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket, then picked up a second popsicle from the basket.

The robot opened the right cabinet door and organized multiple popsicles and an ice cream bar by transferring them between the cooler shelves and a basket.

The robot opened the right cabinet door, transferred multiple popsicles from the second and first shelves to the basket, and returned one ice cream bar to the second shelf.

pick up the popsicle on the right side of the basket

The robot opened the right cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and returned one popsicle to the first shelf of the right cabinet.

place the ice pop into the third compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, organized multiple popsicles and ice cream bars by transferring them between the cabinet shelves and the basket, and placed a popsicle into the second compartment from the right on the first shelf.

The robot opened the right cabinet door, organized multiple popsicles and ice pops by transferring them between the cabinet shelves and the basket, and returned several items to their designated compartments.

place the ice pop into the fourth compartment from the right on the first shelf

The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cabinet shelves and the basket.

Open the right cabinet door. Remove the popsicle from the third compartment on the second shelf, the popsicle from the fourth compartment on the second shelf, the popsicle from the fourth compartment on the first shelf, the ice pop from the second compartment on the first shelf, and the popsicle from the second compartment on the first shelf, placing each into the basket. Transfer the ice cream bar from the basket to the fourth compartment on the second shelf. Move the popsicle from the right side of the basket to the second compartment on the first shelf. Place the ice pop from the basket into the third compartment on the second shelf. Finally, move the remaining popsicle from the basket to the fourth compartment on the first shelf and close the right cabinet door.


pick up the popsicle from the third grid from the right on the first layer

The robot opened the right cabinet door and picked up a popsicle from the first layer.

The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket.

The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket.

pick up the popsicle from the first compartment on the second shelf from the right

pick up the popsicle from the first compartment on the second row from the right

The robot opened the right cabinet door and transferred three popsicles from the cooler shelves into the basket.

pick up the popsicle and place it into the basket

pick up the middle popsicle in the basket

place the ice cream bar into the first compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door and transferred multiple popsicles from various shelves into the basket, then picked up the middle popsicle from the basket.

The robot opened the right cabinet door, transferred multiple popsicles from various shelves and compartments into the basket, and placed an ice cream bar into the first compartment from the right on the second shelf of the right cabinet.

place the ice pop into the second compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and placed one ice cream bar into the right cabinet.

The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket, subsequently organizing the collected ice cream bars and popsicles into specific compartments within the right cabinet.

place the popsicle into the third compartment from the right on the first shelf of the right cabinet

The robot opened the right cabinet door and transferred multiple popsicles from the cabinet shelves and the basket into specific compartments within the cabinet.

The robot opened the right cabinet door and organized multiple popsicles by transferring them from various shelf compartments and the basket into specific slots within the right cabinet.

Open the right cabinet door and begin organizing the popsicles. First, retrieve the popsicle from the third grid from the right on the first layer and the one from the second compartment from the right on the first shelf, placing both into the basket. Next, take the popsicle from the first compartment on the second shelf from the right and the one from the first compartment on the second row from the right, also placing them into the basket. Once all four are in the basket, remove the middle popsicle and place it into the first compartment from the right on the second shelf of the right cabinet. Then, take the popsicle on the right side of the basket and place it into the second compartment from the right on the first shelf. Finally, remove the remaining popsicle from the basket and place it into the third compartment from the right on the first shelf of the right cabinet before closing the door.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the second compartment from the right on the first layer

The robot opened the right cabinet door and picked up a popsicle from the second compartment from the right on the first layer.

The robot opened the right cabinet door, retrieved a popsicle from the second compartment on the first layer, and placed it into the basket.

pick up the ice pop and place it into the basket

The robot opened the right cabinet door and transferred popsicles from the first layer to the basket.

pick up the ice pop from the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles from the first layer of the second compartment from the right into the basket.

place the ice cream stick into the basket

The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket.

pick up the popsicle from the third compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket.

pick up the ice cream stick and place it into the basket

pick up the popsicle from the fourth compartment from the right on the first shelf

The robot opened the right cabinet door and transferred multiple popsicles and ice cream sticks from various compartments on the first and second shelves into the basket.

pick up the second popsicle from the left in the basket

place the ice pop into the fourth compartment from the right on the first shelf

The robot opened the right cabinet door and transferred multiple popsicles and ice cream sticks from various compartments on the first and second shelves into the basket, then picked up a second popsicle from the basket.

pick up the left popsicle inside the basket

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket, subsequently placing one ice pop back into the fourth compartment from the right on the first shelf.

place the ice pop into the third compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the cooler shelves to the basket, subsequently rearranging items within the basket.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler shelves to the basket, and subsequently rearranged specific items within the basket and back onto designated shelves.

place the popsicle into the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cooler compartments and the basket.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler shelves to the basket, and then rearranged items within the basket by placing them back into specific compartments on the first and second shelves.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler shelves to the basket, and rearranged items within the basket and back onto the shelves.

place the ice pop back into the second compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles and ice pops between the cooler compartments and the basket, and organized the items back into specific shelves.

Open the right cabinet door of the beverage cooler. Remove the popsicle from the second compartment from the right on the first layer and the popsicle from the second compartment from the right on the first shelf, placing both into the basket. Next, take the ice pop from the fourth compartment from the right on the second shelf and the popsicle from the third compartment from the right on the second shelf, adding them to the basket along with the ice cream stick. Retrieve the second popsicle from the left and the left popsicle inside the basket, placing all collected items into the basket. Organize the contents by returning the ice pop to the fourth compartment from the right on the first shelf, the left popsicle to the third compartment from the right on the second shelf, and the ice pop to the second compartment from the right on the first shelf. Finally, place the remaining popsicle from the basket into the fourth compartment from the right on the second shelf, return the ice pop to the second compartment from the right on the first shelf, and close the right cabinet door.


pick up the popsicle from the third compartment from the right on the second layer

The robot opened the right cabinet door and picked up a popsicle from the third compartment from the right on the second layer.

pick up the popsicle from the second compartment from the right on the second shelf

The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket.

The robot opened the right cabinet door and transferred two popsicles from the second layer to the basket.

The robot opened the right cabinet door and transferred multiple popsicles from the second layer to the basket.

pick up the popsicle from the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the second layer of the cooler into the basket.

pick up the popsicle and place it into the basket

The robot opened the right cabinet door and transferred multiple popsicles from the second shelf into the basket.

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the second shelf into the basket.

place the popsicle into the fourth compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door and transferred multiple popsicles from the second shelf into the basket, then moved the left popsicle within the basket.

pick up the popsicle on the right side of the basket

The robot opened the right cabinet door, transferred multiple popsicles from the second shelf to the basket, and returned one popsicle to the fourth compartment from the right on the second shelf.

place the popsicle into the third compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and returned some popsicles to the second shelf of the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and then returned several popsicles to specific compartments on the second shelf of the right cabinet.

Open the right cabinet door. Retrieve the ice pop from the third compartment from the right on the second layer and the ice pop from the second compartment from the right on the second shelf, placing both into the basket. Next, take the popsicle from the fourth compartment from the right on the second shelf and the popsicle from the second compartment from the right on the second shelf, placing them into the basket. Organize the contents by moving the left popsicle from the basket into the fourth compartment from the right on the second shelf, then move the popsicle from the right side of the basket into the third compartment from the right on the second shelf. Finally, take the remaining popsicle from the basket and close the right cabinet door.


This is the first subtask, and no subtasks have been completed yet.

The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second shelf.

The robot opened the right cabinet door, retrieved a popsicle from the second shelf, and placed it into the basket.

The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket.

The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket.

pick up the ice cream on the right side of the basket

place the popsicle into the second compartment from the right on the second shelf

The robot opened the right cabinet door and transferred three popsicles from the second shelf into the basket, then picked up an ice cream from the right side of the basket.

The robot opened the right cabinet door, transferred three popsicles from the second shelf to the basket, moved an ice cream from the basket to the shelf, and returned one popsicle to the second shelf.

The robot opened the right cabinet door, transferred three popsicles from the second shelf to the basket, moved an ice cream from the basket to the second shelf, and picked up a popsicle from the basket.

The robot opened the right cabinet door, transferred three popsicles from the second shelf to a basket, moved an ice cream from the basket to the shelf, and returned two popsicles from the basket to the second shelf compartments.

The robot opened the right cabinet door, transferred three popsicles from the second shelf to the basket, moved an ice cream from the basket to the second shelf, and returned two popsicles from the basket to the third and second compartments of the second shelf.

The robot opened the right cabinet door, transferred three popsicles from the second shelf into the basket, moved an ice cream from the basket to the shelf, and returned three popsicles from the basket to their original compartments on the second shelf.

Open the right cabinet door and remove three popsicles from the second shelf, starting with the fourth compartment from the right, followed by the third, and then the second, placing each into the basket. Next, take the ice cream from the right side of the basket and return it to the second compartment from the right on the second shelf. Then, retrieve the popsicle from the basket and place it into the third compartment from the right on the second shelf, followed by retrieving the remaining popsicle from the basket and placing it into the fourth compartment from the right on the second shelf. Finally, close the right cabinet door.


pick up the popsicle from the first compartment on the second shelf, counting from the right

The robot opened the right cabinet door and picked up a popsicle from the first compartment on the second shelf counting from the right.

pick up the popsicle from the third compartment from the right on the first shelf

pick up the ice pop and place it into the basket

The robot opened the right cabinet door and transferred two popsicles from the cooler shelves to the basket.

pick up the popsicle from the second compartment from the right on the first shelf

The robot opened the right cabinet door and transferred multiple popsicles from the shelves into the basket.

The robot opened the right cabinet door and transferred three popsicles from the beverage cooler to the basket.

pick up the ice cream on the left side of the basket

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the shelves into the basket.

place the ice cream bar into the third compartment from the right on the first shelf

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the cooler shelves into the basket, then picked up an ice cream from the left side of the basket.

The robot opened the right cabinet door and organized frozen items by transferring popsicles and ice pops from the cooler shelves to a basket, then placing an ice cream bar from the basket into the cooler.

place the ice pop into the second compartment from the right on the first shelf

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from the cooler shelves to the basket, then moved an ice cream bar from the basket to the first shelf.

The robot opened the right cabinet door and organized the basket by transferring multiple popsicles and ice pops between the basket and specific compartments on the first shelf, while also moving an ice cream bar from the basket to the first shelf.

place the ice pop into the first compartment from the right on the second shelf

The robot opened the right cabinet door and organized multiple popsicles and ice cream bars by transferring them between the cooler shelves and the basket.

The robot opened the right cabinet door and organized multiple popsicles and ice cream bars by transferring them between the basket and specific compartments on the first and second shelves.

Open the right cabinet door of the beverage cooler. Remove the popsicle from the first compartment on the second shelf (counting from the right) and the popsicle from the third compartment on the first shelf, placing both into the basket. Next, take the popsicle from the second compartment on the first shelf and put it into the basket. Retrieve the ice cream bar from the left side of the basket and place it into the third compartment from the right on the first shelf. Then, take the popsicle from the right side of the basket and position it in the second compartment from the right on the first shelf. Finally, remove the remaining popsicle from the basket and place it into the first compartment from the right on the second shelf. Close the right cabinet door to complete the organization.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the fourth compartment from the right on the second layer

pick up the ice cream stick and place it into the basket

The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second layer.

pick up the popsicle from the third compartment from the right on the second shelf

The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed an ice cream stick into the basket.

The robot opened the right cabinet door and removed two popsicles from the second shelf, placing one ice cream stick into the basket.

The robot opened the right cabinet door and transferred multiple frozen treats from the second layer compartments into the basket.

pick up the popsicle and place it into the basket

The robot opened the right cabinet door and transferred three frozen treats from the cooler shelves into the basket.

pick up the popsicle from the fourth compartment from the right on the first shelf

The robot opened the right cabinet door and transferred multiple frozen treats from the cooler shelves into the basket.

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket.

pick up the second popsicle from the left in the basket

The robot opened the right cabinet door and transferred multiple popsicles and an ice pop from various compartments on the first and second shelves into the basket.

The robot opened the right cabinet door and transferred multiple popsicles and an ice pop from various compartments on the first and second shelves into the basket, then picked up a second popsicle from the basket.

place the ice cream bar into the third compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket, subsequently moving a popsicle from the basket to the right cabinet door.

pick up the left popsicle inside the basket

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream stick from the cooler shelves to a basket, and returned the middle popsicle to the third compartment from the right on the second shelf.

place the ice pop into the second compartment from the right on the top shelf

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cabinet shelves to a basket, and arranged some items back onto the second shelf.

The robot opened the right cabinet door, organized multiple popsicles and ice pops by transferring them between the cabinet shelves and a basket, and arranged specific items into designated compartments on the second shelf and top shelf.

place the ice pop into the fourth compartment from the right on the second shelf

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to a basket, and subsequently organized the contents of the basket by placing specific items back into designated compartments on the second shelf, top shelf, and third compartment from the right.

The robot opened the right cabinet door, organized multiple popsicles and ice pops by transferring them between the cabinet shelves and a basket, and arranged specific items into designated compartments on the second and top shelves.

Open the right cabinet door. Retrieve the popsicle from the fourth compartment on the second layer, the ice cream stick, the popsicle from the third compartment on the second shelf, the ice pop, the popsicle from the second compartment on the first shelf, and the popsicle from the fourth compartment on the first shelf, placing each into the basket. Organize the basket contents by moving the second popsicle from the left, the middle popsicle, the left popsicle, and the remaining popsicle out of the basket. Place the ice cream bar into the third compartment on the second shelf, the ice pop into the second compartment on the top shelf, and the final ice pop into the fourth compartment on the second shelf. Close the right cabinet door.


pick up the popsicle from the third grid from the right on the first layer

The robot opened the right cabinet door and picked up a popsicle from the first layer.

The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket.

The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket.

pick up the ice pop and place it into the basket

The robot opened the right cabinet door and transferred multiple popsicles from the first layer to the basket.

pick up the popsicle from the first compartment on the right of the second shelf

The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket.

The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket.

pick up the middle popsicle in the basket

place the popsicle into the second compartment from the right on the first shelf of the right cabinet

The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket, concluding by picking up a popsicle from the basket.

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and returned one popsicle to the first shelf of the right cabinet.

place the ice cream bar into the third compartment from the right on the first shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and returned several popsicles to specific compartments within the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and then organized the popsicles within the basket by placing them into specific compartments on the first and second shelves of the right cabinet.

place the ice cream bar into the first compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and organized them by placing specific items into designated compartments on the first and second shelves of the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and ice cream bars from the cooler shelves to a basket, and subsequently organized the collected items back into specific compartments within the right cabinet.

Open the right cabinet door and transfer three popsicles from the first layer of the cooler into the basket. Next, move the middle popsicle from the basket to the second compartment from the right on the first shelf, then place the left popsicle from the basket into the third compartment from the right on the first shelf. Finally, take the remaining popsicle from the basket and place it into the first compartment from the right on the second shelf before closing the right cabinet door.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the first compartment from the right on the second layer

The robot opened the right cabinet door and picked up a popsicle from the second layer.

pick up the popsicle from the third compartment from the right on the first shelf

The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket.

pick up the popsicle from the second compartment from the right on the first layer

pick up the popsicle and place it into the basket

The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket.

pick up the ice cream bar on the right side of the basket

place the ice pop into the second compartment from the right on the first shelf

The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves into the basket.

The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves into the basket, then returned one ice pop to the first shelf.

place the popsicle into the third compartment from the right on the first shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to the basket, and returned one ice pop to the first shelf.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and subsequently returned several items to specific compartments within the right cabinet.

place the ice pop into the first compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar between the cabinet shelves and the basket, and returned several items to their original locations within the cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and then organized the items back into specific compartments within the right cabinet.

Open the right cabinet door and begin organizing the beverage cooler by transferring specific frozen items into a basket. First, retrieve the popsicle from the first compartment on the second layer, followed by the ice pop from the third compartment on the first shelf, and then the popsicle from the second compartment on the first layer; place each into the basket. Next, remove the ice cream bar from the right side of the basket and the left popsicle from inside the basket. Return the ice pop to the first compartment on the second shelf, the left popsicle to the third compartment on the first shelf, and the ice cream bar to the second compartment on the first shelf. Finally, close the right cabinet door to complete the organization.


pick up the popsicle from the fourth compartment from the right on the second layer

The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second layer.

pick up the popsicle from the second compartment from the right on the first shelf

The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket.

pick up the popsicle from the third compartment from the right on the second shelf

pick up the popsicle from the fourth compartment from the right on the first shelf

The robot opened the right cabinet door and transferred four popsicles from the beverage cooler to the basket.

pick up the left popsicle inside the basket

place the popsicle into the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and transferred four popsicles from the beverage cooler to the basket, then picked up a popsicle already inside the basket.

The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and placed one popsicle from the basket into the fourth compartment from the right on the second shelf.

place the popsicle into the third compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and returned one popsicle to the second shelf.

The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to a basket, and then organized the popsicles back into specific compartments on the second shelf of the right cabinet.

place the popsicle into the second compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and organized the popsicles within the basket.

The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to a basket, and then organized the popsicles back into specific compartments on the first and second shelves of the right cabinet.

place the ice pop into the fourth compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and then organized the popsicles back into specific compartments within the cabinet.

Open the right cabinet door. Retrieve popsicles from the fourth compartment on the second layer, the second compartment on the first shelf, the third compartment on the second shelf, and the fourth compartment on the first shelf, placing each into the basket. Then, take the popsicles from the basket and arrange them in reverse order: place one into the fourth compartment on the second shelf, another into the third compartment on the second shelf, a third into the second compartment on the first shelf, and the final one into the fourth compartment on the first shelf. Close the right cabinet door once all items are organized.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the second compartment from the right on the second shelf

The robot opened the right cabinet door and picked up a popsicle from the second compartment on the second shelf.

The robot opened the right cabinet door, retrieved a popsicle from the second compartment on the second shelf, and placed it into the basket.

The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket.

pick up the popsicle from the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket.

pick up the ice pop and place it into the basket

The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket.

pick up the ice cream on the left side of the basket

The robot opened the right cabinet door and transferred multiple popsicles from the second shelf into the basket.

The robot opened the right cabinet door and transferred multiple popsicles and an ice cream from the cooler shelves into the basket.

The robot opened the right cabinet door, transferred multiple popsicles and an ice pop from the second shelf into the basket, and returned one popsicle to the third compartment from the right on the second shelf.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream from the cabinet shelves to the basket, and returned some items to the cabinet while holding a popsicle inside the basket.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream from the cabinet shelves to a basket, and subsequently returned several items from the basket to the cabinet shelves.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream from the cabinet shelves to the basket, and subsequently moved several items from the basket back to the cabinet shelves.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream from the cabinet shelves to a basket, and subsequently returned several items from the basket to specific compartments within the right cabinet.

Open the right cabinet door and transfer three popsicles from the second shelf, specifically from the second, third, and fourth compartments from the right, into the basket. Next, move the ice cream located on the left side of the basket into the third compartment from the right on the second shelf of the right cabinet. Then, take the remaining popsicle from the basket and place it into the fourth compartment from the right on the second shelf. Finally, close the right cabinet door to complete the organization.


The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second layer.

pick up the ice pop from the third compartment from the right on the second shelf

The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket.

place the ice cream stick into the basket

The robot opened the right cabinet door and transferred two ice pops from the second shelf to the basket.

pick up the popsicle from the third compartment from the right on the first shelf

The robot opened the right cabinet door and transferred two ice pops from the second layer into the basket.

The robot opened the right cabinet door and transferred multiple popsicles and an ice cream stick from the cooler shelves to the basket.

pick up the popsicle and place it into the basket

The robot opened the right cabinet door and transferred multiple popsicles and an ice cream stick from the cooler shelves into the basket.

The robot opened the right cabinet door and transferred multiple popsicles and an ice cream stick from various compartments on the first and second shelves into the basket.

pick up the ice cream bar and place it into the basket

The robot opened the right cabinet door and transferred multiple popsicles and an ice pop from various compartments on the first and second shelves into the basket.

pick up the ice cream bar on the right side of the basket

The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from various compartments on the first and second shelves into the basket.

place the popsicle into the second compartment from the right on the first shelf of the right cabinet

pick up the middle popsicle in the basket

The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from various compartments on the first and second shelves into the basket, subsequently placing one popsicle back into the first shelf.

place the popsicle into the third compartment from the right on the first shelf of the right cabinet

The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from the cabinet shelves to the basket, subsequently placing some items back into the cabinet and rearranging contents within the basket.

The robot opened the right cabinet door and organized multiple popsicles and ice cream bars by transferring them from various shelves into a basket and then arranging them back into specific compartments within the cabinet.

The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from the cooler shelves into the basket, subsequently organizing them back into specific compartments within the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and ice cream bars from the cooler shelves to the basket, and subsequently returned several items to specific compartments within the right cabinet before moving toward the cabinet door.

The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from the cooler shelves and basket into the basket, then began organizing them back into the cabinet compartments.

The robot opened the right cabinet door and organized multiple popsicles and ice cream bars by transferring them from the cooler shelves and basket into specific compartments within the right cabinet.

Open the right cabinet door and begin organizing the beverage cooler by transferring specific frozen items into a basket. First, retrieve the popsicle from the fourth compartment on the second layer, followed by the ice pop from the third compartment on the second shelf, and the ice cream stick. Next, collect the popsicle from the third compartment on the first shelf, the popsicle from the second compartment on the first shelf, the ice cream bar, and the ice cream bar located on the right side of the basket. Once all items are gathered in the basket, sort them back into the cabinet: place the middle popsicle into the third compartment on the first shelf, the left popsicle into the second compartment on the first shelf, and the remaining popsicle into the third compartment on the second shelf. Finally, close the right cabinet door to complete the organization.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the second grid from the right on the first layer

The robot opened the right cabinet door and picked up a popsicle from the first layer.

The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket.

The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket.

pick up the popsicle from the first compartment on the right in the second row

The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket.

The robot opened the right cabinet door and transferred multiple popsicles from various compartments in the cooler to the basket.

The robot opened the right cabinet door and transferred multiple popsicles from the cooler shelves into the basket, concluding by picking up a popsicle already inside the basket.

pick up the ice pop on the right side of the basket

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to a basket, and returned one popsicle to the first shelf of the right cabinet.

place the popsicle into the first compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and returned one popsicle to the cabinet shelf.

The robot opened the right cabinet door and organized popsicles by transferring them between the cabinet shelves and the basket.

The robot opened the right cabinet door, transferred multiple popsicles from the cooler to the basket, and subsequently organized them by placing specific items into designated compartments on the first and second shelves of the right cabinet.

The robot opened the right cabinet door and organized multiple popsicles by transferring them between the cabinet shelves and the basket.

Open the right cabinet door and transfer three popsicles from the cabinet to the basket: first, take the popsicle from the second grid from the right on the first layer; second, take the popsicle from the third compartment from the right on the first shelf; and third, take the popsicle from the first compartment on the right in the second row. After placing these items in the basket, also move the ice cream stick and the ice pop currently in the basket into the cabinet. Return the remaining popsicles from the basket to the cabinet by placing one into the third compartment from the right on the first shelf, another into the first compartment from the right on the second shelf, and the final one into the second compartment from the right on the first shelf. Finally, close the right cabinet door.


pick up the popsicle from the third compartment from the right on the second layer

The robot opened the right cabinet door and picked up a popsicle from the third compartment from the right on the second layer.

pick up the popsicle from the second compartment from the right on the first shelf

The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket.

pick up the popsicle from the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket.

pick up the popsicle from the fourth compartment from the right on the first layer

pick up the ice pop and place it into the basket

The robot opened the right cabinet door and transferred four popsicles from various compartments on the first and second shelves into the basket.

pick up the second popsicle from the left in the basket

place the ice cream bar into the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket, then picked up a second popsicle from the basket.

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket, subsequently placing one ice cream bar back into the fourth compartment from the right on the second shelf.

place the popsicle into the second compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles from various compartments on the first and second shelves into the basket, and returned one ice cream bar to the fourth compartment from the right on the second shelf.

The robot opened the right cabinet door, transferred multiple popsicles from various compartments on the first and second shelves into the basket, and returned selected items to specific locations within the cooler.

place the ice pop into the fourth compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles from the cooler shelves to the basket, and rearranged specific items within the basket and back onto the shelves.

The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cooler shelves and a basket.

place the popsicle into the third compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cooler shelves and the basket.

The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the cabinet shelves and a basket, ultimately placing all items into specific compartments within the right cabinet.

Open the right cabinet door and begin organizing the popsicles. Retrieve the popsicle from the third compartment on the second layer, the ice pop from the second shelf, the popsicle from the fourth compartment on the second shelf, and the popsicle from the fourth compartment on the first layer, placing each into the basket. Next, take the second popsicle from the left in the basket and place it into the fourth compartment on the second shelf. Retrieve the middle popsicle from the basket and place it into the second compartment on the first shelf. Then, take the left popsicle from the basket and place it into the fourth compartment on the first shelf. Finally, pick up the remaining popsicle from the basket and place it into the third compartment on the second shelf. Close the right cabinet door to complete the organization.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the second compartment from the left on the second shelf

The robot opened the left cabinet door and picked up a popsicle from the second compartment on the second shelf.

pick up the popsicle from the fourth compartment from the left on the second shelf

The robot opened the left cabinet door, retrieved a popsicle from the second compartment on the second shelf, and placed it into the basket.

pick up the popsicle and place it into the basket

The robot opened the left cabinet door and transferred two popsicles from the second shelf to the basket.

pick up the popsicle from the second compartment from the left on the first shelf

The robot opened the left cabinet door and transferred multiple popsicles from the second shelf to the basket.

The robot opened the left cabinet door and transferred multiple popsicles from the shelves into the basket.

pick up the middle popsicle in the basket

place the popsicle into the second compartment from the left on the second shelf of the left cabinet

The robot opened the left cabinet door and transferred multiple popsicles from the shelves into the basket, then picked up the middle popsicle from the basket.

The robot opened the left cabinet door, transferred multiple popsicles from the shelves to the basket, and returned one popsicle to the second compartment from the left on the second shelf.

place the popsicle into the fourth compartment from the left on the second shelf of the left cabinet

The robot opened the left cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and returned one popsicle to the second compartment from the left on the second shelf.

The robot opened the left cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and rearranged specific popsicles within the basket and cabinet compartments.

The robot opened the left cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and rearranged items within the basket.

The robot opened the left cabinet door, transferred multiple popsicles between the cabinet shelves and the basket, and rearranged specific popsicles within the cabinet compartments.

Open the left cabinet door. Remove the popsicle from the second compartment on the second shelf, the ice pop, and the popsicle from the fourth compartment on the second shelf, placing each into the basket. Also remove the popsicle from the second compartment on the first shelf and place it in the basket. Organize the contents of the basket by placing the middle popsicle into the second compartment on the second shelf, the left popsicle into the fourth compartment on the second shelf, and the remaining popsicle from the basket into the second compartment on the second shelf. Finally, close the left cabinet door.


pick up the popsicle from the third compartment from the left on the second shelf

The robot opened the left cabinet door and picked up a popsicle from the third compartment from the left on the second shelf.

pick up the popsicle from the fourth compartment on the first layer

The robot opened the left cabinet door, retrieved a popsicle from the second shelf, and placed it into the basket.

pick up the popsicle from the fourth compartment from the left on the first shelf

The robot opened the left cabinet door, retrieved two popsicles from the second and first shelves, and placed one into the basket.

The robot opened the left cabinet door and transferred three popsicles from the cooler shelves into the basket.

pick up the ice cream on the left in the basket

The robot opened the left cabinet door and transferred multiple popsicles from various compartments on the first and second shelves into the basket.

place the popsicle into the third compartment from the left on the second shelf of the left cabinet

The robot opened the left cabinet door and transferred multiple popsicles and ice cream from the cooler shelves into the basket.

The robot opened the left cabinet door, transferred multiple popsicles and an ice cream from the cooler shelves to a basket, and returned one popsicle to the second shelf.

place the ice cream bar into the fourth compartment from the left on the first shelf

The robot opened the left cabinet door, transferred multiple popsicles and an ice cream between the cabinet shelves and the basket, and returned one popsicle to the second shelf.

The robot organized the beverage cooler by transferring multiple popsicles and ice cream bars between the left cabinet shelves and the basket, ultimately restocking specific compartments.

Open the left cabinet door. Retrieve the popsicle from the third compartment from the left on the second shelf and the popsicle from the fourth compartment on the first layer, placing both into the basket. Also, take the ice pop from the basket and place it into the basket. Next, remove the ice cream from the left side of the basket. Organize the items by placing the first popsicle into the third compartment from the left on the second shelf and the ice cream bar into the fourth compartment from the left on the first shelf. Finally, close the left cabinet door.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the third grid on the second layer from the left

The robot opened the left cabinet door and picked up a popsicle from the third grid on the second layer from the left.

The robot opened the left cabinet door, retrieved a popsicle from the second layer, and placed it into the basket.

pick up the ice pop and place it into the basket

The robot opened the left cabinet door, transferred a popsicle from the third grid on the second layer to the basket, and picked up a second popsicle from the second compartment on the second shelf.

pick up the popsicle from the first compartment on the second shelf from the left

The robot opened the left cabinet door and transferred multiple popsicles from the cooler shelves into the basket.

The robot opened the left cabinet door and transferred three popsicles from the second shelf to the basket.

pick up the ice cream bar on the right side of the basket

The robot opened the left cabinet door and transferred multiple popsicles from various shelves into the basket, then picked up an ice cream bar from the right side of the basket.

pick up the right popsicle from the basket

The robot opened the left cabinet door and transferred multiple popsicles from the shelves into the basket, then placed an ice cream bar from the basket into a shelf compartment.

place the popsicle into the first compartment from the left on the second shelf of the left cabinet

The robot opened the left cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves to the basket, then returned the ice cream bar to the first shelf and picked up a popsicle from the basket.

The robot opened the left cabinet door and organized multiple popsicles and an ice cream bar by transferring them between the cabinet shelves and the basket.

The robot opened the left cabinet door, transferred multiple popsicles and an ice cream bar between the cabinet shelves and the basket, and returned the popsicles to their designated compartments on the second shelf.

Open the left cabinet door and transfer three ice pops from the third, second, and first compartments on the second shelf, as well as the popsicle from the fourth compartment on the first shelf, into the basket. Next, move the ice cream bar from the basket into the fourth compartment on the first shelf. Then, return the right popsicle from the basket to the first compartment on the second shelf, the left popsicle to the second compartment on the second shelf, and the final popsicle to the third compartment on the second shelf. Finally, close the left cabinet door.


pick up the popsicle from the fourth compartment from the left on the second layer

pick up the ice cream bar and place it into the basket

The robot opened the left cabinet door and picked up a popsicle from the fourth compartment from the left on the second layer.

pick up the popsicle from the second compartment from the left on the first shelf

The robot opened the left cabinet door, retrieved a popsicle from the second layer, and placed an ice cream bar into the basket.

The robot opened the left cabinet door and retrieved multiple frozen items from the cooler, placing an ice cream bar into the basket and holding a popsicle.

The robot opened the left cabinet door and transferred multiple frozen items, including popsicles and ice cream bars, from the cooler shelves to the basket.

The robot opened the left cabinet door and transferred multiple frozen treats, including popsicles, an ice cream bar, and an ice pop, from the cooler shelves into the basket.

pick up the ice cream on the left side of the basket

The robot opened the left cabinet door and transferred multiple frozen treats, including popsicles, ice cream bars, and ice pops, from the cooler shelves into the basket.

place the popsicle into the fourth compartment from the left on the second shelf

The robot opened the left cabinet door and transferred multiple frozen items, including popsicles, ice cream bars, and ice pops, from the cooler shelves into the basket, then picked up an ice cream from the basket.

The robot opened the left cabinet door, transferred multiple frozen items from the cooler shelves to the basket, and returned one popsicle to the second shelf.

place the ice pop into the third compartment from the left on the second shelf of the left cabinet

The robot opened the left cabinet door, transferred multiple frozen treats from the cooler shelves to the basket, and returned some items to the cooler while holding a popsicle from the basket.

The robot opened the left cabinet door, transferred multiple frozen items from the cooler shelves to a basket, and subsequently organized the collected popsicles and ice pops back into specific compartments within the left cabinet.

place the popsicle into the second compartment from the left on the first shelf

The robot opened the left cabinet door, transferred multiple frozen treats between the cabinet shelves and the basket, and arranged specific items into designated compartments within the cabinet.

The robot opened the left cabinet door, transferred multiple frozen items between the cabinet shelves and the basket, and organized the remaining popsicles and ice pops into specific compartments on the first and second shelves.

Open the left cabinet door. Pick up the popsicle from the fourth compartment on the second layer and the ice cream bar, placing both into the basket. Next, retrieve the popsicle from the second compartment on the first shelf and the ice pop, adding them to the basket as well. Then, take the popsicle from the third compartment on the second shelf and the ice cream located on the left side of the basket, placing the popsicle into the fourth compartment on the second shelf. Retrieve the right popsicle and the ice pop from the basket, placing the ice pop into the third compartment on the second shelf and the popsicle into the second compartment on the first shelf. Finally, close the left cabinet door.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the second compartment from the right on the second shelf

The robot opened the right cabinet door.

The robot opened the right cabinet door and picked up a popsicle from the second compartment on the second shelf.

pick up the popsicle from the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and transferred a popsicle from the second compartment on the second shelf to the basket.

The robot opened the right cabinet door and retrieved two popsicles from the second shelf, placing one into the basket.

pick up the popsicle from the third compartment from the right on the second shelf

The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket.

place the ice cream stick into the basket

The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket.

The robot opened the right cabinet door and transferred multiple ice pops from the second shelf into the basket.

place the popsicle into the second compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door and transferred multiple popsicles and an ice cream stick from the cooler shelves into the basket, then picked up an ice cream from the left side of the basket.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream stick from the second shelf into the basket, and returned one popsicle to the second compartment from the right on the second shelf.

place the ice pop into the third compartment from the right on the second shelf

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream stick from the cabinet shelves to the basket, and returned one popsicle to the cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream stick from the cabinet shelves to the basket, and returned some items to specific compartments within the right cabinet.

place the popsicle into the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and organized multiple popsicles and ice pops by transferring them between the basket and specific compartments on the second shelf of the right cabinet.

The robot opened the right cabinet door and organized popsicles by transferring them between the basket and specific compartments on the second shelf.

Open the right cabinet door. Retrieve the popsicle from the second compartment from the right on the second shelf, the ice pop from the fourth compartment from the right on the second shelf, and the popsicle from the third compartment from the right on the second shelf, placing each into the basket. Insert the ice cream stick into the basket and transfer the ice cream located on the left side of the basket into the second compartment from the right on the second shelf. Return the popsicle from the basket to the second compartment from the right on the second shelf, move the ice pop from the basket to the third compartment from the right on the second shelf, and place the remaining popsicle from the basket into the fourth compartment from the right on the second shelf. Finally, close the right cabinet door.


pick up the popsicle from the fourth compartment from the right on the second layer

The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second layer.

The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed the ice cream stick into the basket.

pick up the ice pop and place it into the basket

The robot opened the right cabinet door, placed a popsicle stick into the basket, and picked up two popsicles from the second layer.

The robot opened the right cabinet door and transferred multiple popsicles from the second layer to the basket.

pick up the popsicle and place it into the basket

The robot opened the right cabinet door and transferred multiple popsicles from the second shelf to the basket.

pick up the ice cream bar on the right side of the basket

The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the second shelf into the basket.

pick up the popsicle on the right side of the basket

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the second shelf of the right cabinet to the basket, and returned one popsicle to the second compartment from the right on the second shelf.

place the popsicle into the third compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cabinet shelves to a basket, and returned one popsicle to the second compartment from the right on the second shelf.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cabinet shelves to a basket, and then returned several items from the basket to specific compartments on the second shelf of the right cabinet.

place the popsicle into the fourth compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cabinet shelves and basket into the basket, and returned several popsicles to specific compartments on the second shelf of the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler compartments and basket into the basket, and then organized them by placing each item into specific compartments on the second shelf of the right cabinet.

Open the right cabinet door and remove three popsicles from the fourth, third, and second compartments from the right on the second shelf, placing each into the basket. Next, transfer the ice cream stick and the ice pop from the basket into the same compartments in the cabinet, followed by moving the popsicle originally on the right side of the basket into the second compartment from the right. Then, take the remaining popsicle from the basket and place it into the third compartment from the right. Finally, move the last popsicle from the basket into the fourth compartment from the right on the second shelf and close the right cabinet door.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the second grid from the right on the first layer

The robot opened the right cabinet door and picked up a popsicle from the first layer.

pick up the ice pop from the third compartment from the right on the first shelf

The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket.

pick up the popsicle from the third compartment from the right on the first shelf

The robot opened the right cabinet door and transferred two ice pops from the cooler to the basket.

The robot opened the right cabinet door and transferred multiple ice pops from the first shelf to the basket.

pick up the popsicle from the first compartment on the right in the second shelf

The robot opened the right cabinet door and transferred multiple ice pops and popsicles from the first shelf into the basket.

The robot opened the right cabinet door and transferred multiple ice pops and popsicles from various compartments on the first and second shelves into the basket.

pick up the middle popsicle in the basket

The robot opened the right cabinet door and transferred multiple ice pops and an ice cream stick from various compartments on the first and second shelves into the basket.

place the popsicle into the third compartment from the right on the first shelf of the right cabinet

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket, then adjusted the middle popsicle within the basket.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to the basket, and returned one popsicle to the first shelf.

place the popsicle into the first compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles and ice pops between the cabinet shelves and the basket, and rearranged items within the cabinet compartments.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops between the cabinet shelves and the basket, and arranged them into specific compartments within the cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops between the cabinet shelves and the basket, and organized the items by placing them into specific compartments on the first and second shelves.

place the popsicle into the second compartment from the right on the first shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to a basket, and then returned several popsicles from the basket to specific compartments on the first and second shelves of the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cabinet shelves to a basket, and subsequently organized the contents of the basket back into specific compartments on the first and second shelves of the right cabinet.

Open the right cabinet door and transfer frozen treats from the shelves to the basket. First, remove the popsicle from the second grid from the right on the first layer, followed by the ice pop from the third compartment from the right on the first shelf, and then the popsicle from the third compartment from the right on the first shelf. Next, take the popsicle from the first compartment on the right in the second shelf and the ice cream stick, placing all items into the basket. Once the basket is filled, redistribute the items back into the cabinet: place the middle popsicle from the basket into the third compartment from the right on the first shelf, then move the next two popsicles from the basket into the first compartment from the right on the second shelf. Finally, place the last popsicle from the basket into the second compartment from the right on the first shelf. Close the right cabinet door to complete the organization.


pick up the popsicle from the third grid from the right on the first layer

pick up the popsicle from the second compartment from the right on the top shelf

The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket.

pick up the popsicle from the first compartment on the second row from the right

The robot opened the right cabinet door and transferred three popsicles from the cooler to the basket.

pick up the popsicle from the first compartment on the right in the second layer

The robot opened the right cabinet door and transferred multiple popsicles from various shelves and compartments into the basket.

pick up the ice pop and place it into the basket

pick up the ice cream bar on the right side of the basket

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various shelves and compartments into the basket.

The robot opened the right cabinet door and transferred multiple popsicles and ice cream bars from various shelves and compartments into the basket.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from various shelves and compartments into the basket, and placed one popsicle into the first compartment on the second shelf of the right cabinet.

place the ice pop into the second compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler to the basket, and moved several items from the basket back into the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler to the basket, and subsequently organized the collected items by placing them into specific compartments on the shelves of the right cabinet.

place the popsicle into the third compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler to a basket, and subsequently organized selected items back into specific compartments within the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from the cooler to a basket, and subsequently organized the collected items into specific compartments on the shelves of the right cabinet.

Open the right cabinet door. Retrieve the popsicle from the third grid from the right on the first layer, the ice pop, the popsicle from the second compartment from the right on the top shelf, the popsicle from the first compartment on the second row from the right, and the popsicle from the first compartment on the right in the second layer, placing each into the basket. Also, pick up the ice cream bar located on the right side of the basket. Organize the collected items by placing the first popsicle into the first compartment from the right on the second shelf, the ice pop into the second compartment from the right on the first shelf, and the second popsicle into the third compartment from the right on the first shelf. Finally, close the right cabinet door.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the fourth compartment from the right on the second layer

The robot opened the right cabinet door and picked up a popsicle from the fourth compartment from the right on the second layer.

pick up the ice pop from the third compartment from the right on the second shelf

The robot opened the right cabinet door, retrieved a popsicle from the second layer, and placed it into the basket.

pick up the popsicle and place it into the basket

The robot opened the right cabinet door and transferred two ice pops from the second shelf to the basket.

pick up the popsicle from the second compartment from the right on the first shelf

The robot opened the right cabinet door and transferred multiple ice pops from the second layer of the beverage cooler into the basket.

The robot opened the right cabinet door and transferred three popsicles from the beverage cooler to the basket.

pick up the popsicle from the fourth compartment from the right on the first shelf

The robot opened the right cabinet door and transferred four popsicles from the first and second shelves into the basket.

The robot opened the right cabinet door and transferred multiple popsicles and ice pops from various compartments on the first and second shelves into the basket.

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from various compartments on the first and second shelves to the basket, and then closed the right cabinet door.

pick up the second popsicle from the left

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from various compartments on the first and second shelves to a basket, and closed the door before reopening it.

place the popsicle into the second compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles and ice pops from various compartments on the first and second shelves to a basket, and closed the door before reopening it to pick up a second popsicle from the left.

pick up the left popsicle inside the basket

The robot opened the right cabinet door, transferred multiple popsicles from various compartments on the first and second shelves into a basket, and returned one popsicle to the first shelf.

place the popsicle into the fourth compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles from the cabinet to the basket, closed and reopened the door, and moved a popsicle from the basket back into the cabinet.

The robot opened the right cabinet door, transferred multiple popsicles from the cabinet to a basket, and subsequently organized the popsicles by placing them back into specific compartments within the right cabinet.

place the ice cream bar into the third compartment from the right on the second shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles from the cabinet shelves to a basket, and returned some popsicles from the basket to specific compartments within the cabinet before closing and reopening the door.

The robot opened the right cabinet door, transferred multiple popsicles and ice cream bars between the cabinet shelves and the basket, and rearranged specific items within the cabinet compartments.

place the popsicle into the fourth compartment from the right on the first shelf

The robot opened the right cabinet door, transferred multiple popsicles and ice cream bars between the cabinet shelves and the basket, and returned some items to specific compartments within the cabinet.

The robot opened and closed the right cabinet door, transferred multiple popsicles and ice cream bars between the cabinet shelves and the basket, and organized the items by placing them into specific compartments on the first and second shelves.

Open the right cabinet door and remove the popsicle from the fourth compartment on the second layer, the ice pop from the third compartment on the second shelf, the popsicle from the second compartment on the first shelf, and the popsicle from the fourth compartment on the first shelf, placing each into the basket. Close the door, then reopen it to organize the basket contents: place the second popsicle from the left into the second compartment on the first shelf, move the left popsicle from the basket to the fourth compartment on the second shelf, transfer the ice cream bar to the third compartment on the second shelf, and finally place the remaining popsicle from the basket into the fourth compartment on the first shelf. Close the right cabinet door to complete the organization.


This is the first subtask, and no subtasks have been completed yet.

pick up the popsicle from the second compartment from the right on the second shelf

The robot opened the right cabinet door and picked up a popsicle from the second compartment on the second shelf.

pick up the popsicle from the fourth compartment from the right on the second shelf

The robot opened the right cabinet door, retrieved a popsicle from the second compartment on the second shelf, and placed it into the basket.

The robot opened the right cabinet door and transferred two popsicles from the second shelf to the basket.

pick up the popsicle from the third compartment from the right on the second shelf

The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket.

pick up the middle popsicle in the basket

place the ice pop into the fourth compartment from the right on the second shelf

The robot opened the right cabinet door and transferred three popsicles from the second shelf to the basket, then picked up a popsicle from the basket.

The robot opened the right cabinet door and transferred popsicles between the second shelf compartments and the basket.

place the ice pop into the third compartment from the right on the second shelf

The robot opened the right cabinet door, transferred popsicles between the second shelf compartments and the basket, and arranged the popsicles within the basket.

The robot opened the right cabinet door, transferred popsicles between the second shelf compartments and the basket, and arranged the ice pops into specific slots on the second shelf.

The robot opened the right cabinet door, transferred popsicles between the second shelf compartments and the basket, and arranged them in specific slots on the second shelf.

The robot opened the right cabinet door, transferred popsicles between the cabinet shelves and the basket, and reorganized the popsicles within the cabinet compartments.

Open the right cabinet door of the beverage cooler. Retrieve three popsicles from the second shelf, specifically from the second, fourth, and third compartments from the right, and place each into the basket. Once all three are in the basket, rearrange them by taking the middle popsicle and placing it into the fourth compartment from the right on the second shelf, then taking the left popsicle from the basket and placing it into the third compartment from the right on the second shelf. Finally, take the remaining popsicle from the basket and place it into the second compartment from the right on the second shelf. Close the right cabinet door to complete the organization.


pick up the popsicle from the third grid from the right on the first layer

pick up the ice pop and place it into the basket

The robot opened the right cabinet door and picked up a popsicle from the first layer.

The robot opened the right cabinet door, retrieved a popsicle from the first layer, and placed it into the basket.

The robot opened the right cabinet door and transferred two popsicles from the cooler to the basket.

pick up the ice cream bar and place it into the basket

The robot opened the right cabinet door and transferred multiple popsicles from the first shelf to the basket.

pick up the popsicle from the first compartment on the right in the second layer

The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves into the basket.

pick up the popsicle and place it into the basket

place the popsicle into the first compartment from the right on the second shelf

The robot opened the right cabinet door and transferred multiple popsicles and an ice cream bar from the cooler shelves into the basket, followed by adjusting the middle popsicle within the basket.

move to the basket and pick up the popsicle on the right side inside the basket

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and arranged a popsicle into the second shelf.

place the popsicle into the second compartment from the right on the first layer of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and arranged some items within the basket.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, rearranged items within the basket, and placed several popsicles into specific compartments on the first and second shelves of the right cabinet.

place the popsicle into the third compartment from the right on the first shelf of the right cabinet

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and then relocated several popsicles from the basket into specific compartments within the right cabinet.

The robot opened the right cabinet door, transferred multiple popsicles and an ice cream bar from the cooler to a basket, and subsequently organized the collected items by placing them into specific compartments within the right cabinet.

Open the right cabinet door and begin organizing the beverage cooler by transferring specific frozen items into a basket. First, remove the popsicle from the third grid from the right on the first layer, followed by the ice pop, and then the ice cream bar, placing each into the basket. Next, take the popsicle from the second compartment from the right on the first shelf and the one from the first compartment on the right in the second layer, adding them to the basket as well. Once these items are collected, move the middle popsicle from the basket to the first compartment from the right on the second shelf. Then, transfer the popsicle from the right side inside the basket to the second compartment from the right on the first layer. Finally, take the remaining popsicle from the basket and place it into the third compartment from the right on the first shelf before closing the right cabinet door.


pick up the green dice and place it into the storage box

This is the first subtask, and no subtasks have been completed yet.

pick up the yellow dice and place it into the storage box

The green dice has been placed into the storage box.

The robot has placed the green and yellow dice into the storage box.

The robot has placed the green and yellow dice into the storage box and adjusted its posture.

The robot has placed the green and yellow dice into the storage box, adjusted its posture, and picked up the tennis ball.

pick up the tennis ball on the table and place it into the storage box

The robot has placed the green and yellow dice into the storage box, adjusted its posture, picked up the tennis ball, and is currently aiming at the storage box.

The robot has organized the green dice, yellow dice, and tennis ball into the storage box.

Organize the toys by first picking up the green dice and placing it into the storage box, followed by picking up the yellow dice and placing it into the storage box. After adjusting the robot posture, pick up the tennis ball from the table, aim at the storage box, and place the tennis ball inside. Finally, close the storage box to complete the organization.


pick up the red dice and place it into the storage box

The red dice has been placed into the storage box.

The red dice has been placed in the storage box, and the yellow dice is currently being held.

place the yellow die into the storage box

The robot has placed the red dice into the storage box and is currently holding the yellow dice.

The robot has placed the red dice and the yellow dice into the storage box.

The robot has placed the red and yellow dice into the storage box and is currently holding the tennis ball.

The robot has organized the red dice, yellow dice, and tennis ball into the storage box.

Organize the toys by picking up the red dice and placing it into the storage box, then picking up the yellow dice, aiming at the storage box, and placing the yellow die inside. Next, pick up the tennis ball from the table, aim at the storage box, and place the tennis ball into the storage box.


The robot has placed the red dice into the storage box and adjusted its posture.

The robot has placed the red dice into the storage box and adjusted its posture, while currently holding the brown dice.

place the brown die into the storage box

The robot has placed the red dice into the storage box and adjusted its posture while holding the brown dice.

The robot has placed the red and brown dice into the storage box.

The robot has placed the red and brown dice into the storage box and is currently holding the tennis ball.

The robot has placed the red dice, brown dice, and tennis ball into the storage box.

The robot has organized the red dice, brown dice, and tennis ball into the storage box.

Organize the toys by first picking up the red dice and placing it into the storage box, then adjusting the robot posture. Next, pick up the brown dice, aim at the storage box, and place it inside. Adjust the robot posture again, pick up the tennis ball, aim at the storage box, and place the tennis ball inside. Finally, close the storage box.