Datasets:
Languages:
English
ArXiv:
Tags:
egocentric-vision
exocentric-vision
gaze-tracking
referential-expressions
cooking
spatial-reasoning
License:
| { | |
| "surface_map": { | |
| "0": "table", | |
| "1": "countertop", | |
| "2": "cupboard shelf", | |
| "3": "window surface" | |
| }, | |
| "recipes": [ | |
| { | |
| "id": 1, | |
| "name": "Classic Grilled Cheese Sandwich", | |
| "ingredients": [ | |
| { | |
| "name": "Bread", | |
| "location": 66, | |
| "surface": 2, | |
| "position_3d": [ | |
| 0.2466384619474411, | |
| -2.7205965518951416, | |
| 2.1157350540161133 | |
| ], | |
| "ply_index": 379674, | |
| "point_label": "point_0", | |
| "point_timestamp": "2025-12-20T09:37:30.775244" | |
| }, | |
| { | |
| "name": "Cheese", | |
| "location": 24, | |
| "surface": 0, | |
| "position_3d": [ | |
| -1.037011981010437, | |
| -1.3807973861694336, | |
| 0.9694563150405884 | |
| ], | |
| "ply_index": 849477, | |
| "point_label": "point_1", | |
| "point_timestamp": "2025-12-20T09:37:30.775338" | |
| }, | |
| { | |
| "name": "Red Paprika", | |
| "location": 38, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.5698939561843872, | |
| -1.2719844579696655, | |
| 0.9633154273033142 | |
| ], | |
| "ply_index": 809539, | |
| "point_label": "point_2", | |
| "point_timestamp": "2025-12-20T09:37:30.775360" | |
| }, | |
| { | |
| "name": "Plate", | |
| "location": 20, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.6879060864448547, | |
| -0.7915403842926025, | |
| 0.9528732299804688 | |
| ], | |
| "ply_index": 812128, | |
| "point_label": "point_3", | |
| "point_timestamp": "2025-12-20T09:37:30.775378" | |
| }, | |
| { | |
| "name": "Knife", | |
| "location": 57, | |
| "surface": 1, | |
| "position_3d": [ | |
| -0.0937056690454483, | |
| -2.6153554916381836, | |
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| ], | |
| "ply_index": 532482, | |
| "point_label": "point_4", | |
| "point_timestamp": "2025-12-20T09:37:30.775395" | |
| } | |
| ], | |
| "steps": [ | |
| "Lay the bread on a plate.", | |
| "Use a knife to slice the paprika.", | |
| "Place the sliced paprika on the bread and sprinkle with cheese." | |
| ], | |
| "points_3d": { | |
| "source_ply": "meshape_full_blender_scaled_corr_new.ply", | |
| "total_points": 5, | |
| "source_json": "recipe1_1.json" | |
| } | |
| }, | |
| { | |
| "id": 2, | |
| "name": "Quick Carrot Spaghetti", | |
| "ingredients": [ | |
| { | |
| "name": "Carrot", | |
| "location": 30, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.6877267360687256, | |
| -1.182077407836914, | |
| 0.9650731086730957 | |
| ], | |
| "ply_index": 811644, | |
| "point_label": "point_0", | |
| "point_timestamp": "2025-12-20T09:41:51.079476" | |
| }, | |
| { | |
| "name": "Jar of tomato pasta sauce", | |
| "location": 60, | |
| "surface": 2, | |
| "position_3d": [ | |
| 1.5688426494598389, | |
| -1.1305142641067505, | |
| 1.7454817295074463 | |
| ], | |
| "ply_index": 582573, | |
| "point_label": "point_1", | |
| "point_timestamp": "2025-12-20T09:41:51.079519" | |
| }, | |
| { | |
| "name": "Spaghetti", | |
| "location": 45, | |
| "surface": 1, | |
| "position_3d": [ | |
| 1.670943260192871, | |
| -1.0502352714538574, | |
| 0.9642801284790039 | |
| ], | |
| "ply_index": 374527, | |
| "point_label": "point_2", | |
| "point_timestamp": "2025-12-20T09:41:51.079528" | |
| }, | |
| { | |
| "name": "Pan", | |
| "location": 53, | |
| "surface": 1, | |
| "position_3d": [ | |
| 0.8599836826324463, | |
| -1.8584728240966797, | |
| 0.9550184607505798 | |
| ], | |
| "ply_index": 515891, | |
| "point_label": "point_3", | |
| "point_timestamp": "2025-12-20T09:41:51.079537" | |
| }, | |
| { | |
| "name": "Pot", | |
| "location": 34, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.12319721281528473, | |
| -0.7117369174957275, | |
| 0.9632015824317932 | |
| ], | |
| "ply_index": 810518, | |
| "point_label": "point_4", | |
| "point_timestamp": "2025-12-20T09:41:51.079543" | |
| }, | |
| { | |
| "name": "Sink", | |
| "location": "sink", | |
| "surface": 1, | |
| "position_3d": [ | |
| 0.4317283034324646, | |
| -2.488492965698242, | |
| 0.9287993907928467 | |
| ], | |
| "ply_index": 491653, | |
| "point_label": "point_5", | |
| "point_timestamp": "2025-12-20T09:41:51.079548" | |
| }, | |
| { | |
| "name": "Knife", | |
| "location": 57, | |
| "surface": 1 | |
| } | |
| ], | |
| "steps": [ | |
| "Heat a large, wide frying pan.", | |
| "Cut the carrot into pieces with a knife.", | |
| "Add the carrot pieces to the pan and fry for a few minutes until they begin to soften.", | |
| "Pour in the tomato sauce and heat until bubbling.", | |
| "Meanwhile, boil the spaghetti in water until cooked. Drain and add it to the sauce.", | |
| "Mix well until the spaghetti is completely coated in the sauce." | |
| ], | |
| "points_3d": { | |
| "source_ply": "meshape_full_blender_scaled_corr_new.ply", | |
| "total_points": 6, | |
| "source_json": "recipe2_1.json" | |
| } | |
| }, | |
| { | |
| "id": 3, | |
| "name": "Classic Mushroom, Paprika Penne", | |
| "ingredients": [ | |
| { | |
| "name": "Penne", | |
| "location": 46, | |
| "surface": 1, | |
| "position_3d": [ | |
| 1.3115955591201782, | |
| -1.056152105331421, | |
| 0.9690143465995789 | |
| ], | |
| "ply_index": 746855, | |
| "point_label": "point_0", | |
| "point_timestamp": "2025-12-20T09:45:58.674008" | |
| }, | |
| { | |
| "name": "Mushroom can", | |
| "location": 59, | |
| "surface": 2, | |
| "position_3d": [ | |
| 1.496779441833496, | |
| -0.9322389364242554, | |
| 1.7950029373168945 | |
| ], | |
| "ply_index": 588306, | |
| "point_label": "point_1", | |
| "point_timestamp": "2025-12-20T09:45:58.674082" | |
| }, | |
| { | |
| "name": "Green Paprika", | |
| "location": 35, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.2365594059228897, | |
| -0.8350808620452881, | |
| 0.9576442837715149 | |
| ], | |
| "ply_index": 810456, | |
| "point_label": "point_2", | |
| "point_timestamp": "2025-12-20T09:45:58.674096" | |
| }, | |
| { | |
| "name": "Chili Pepper", | |
| "location": 63, | |
| "surface": 2, | |
| "position_3d": [ | |
| 0.0552666075527668, | |
| -2.686659336090088, | |
| 1.7951253652572632 | |
| ], | |
| "ply_index": 383664, | |
| "point_label": "point_3", | |
| "point_timestamp": "2025-12-20T09:45:58.674108" | |
| }, | |
| { | |
| "name": "Pot", | |
| "location": 34, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.11861218512058258, | |
| -0.6918244361877441, | |
| 0.9645683765411377 | |
| ], | |
| "ply_index": 312067, | |
| "point_label": "point_4", | |
| "point_timestamp": "2025-12-20T09:45:58.674118" | |
| }, | |
| { | |
| "name": "Pan", | |
| "location": 53, | |
| "surface": 1, | |
| "position_3d": [ | |
| 0.8314723968505859, | |
| -1.87343168258667, | |
| 0.9510416388511658 | |
| ], | |
| "ply_index": 515841, | |
| "point_label": "point_5", | |
| "point_timestamp": "2025-12-20T09:45:58.674128" | |
| }, | |
| { | |
| "name": "Sink", | |
| "location": 0, | |
| "surface": 1, | |
| "position_3d": [ | |
| 0.38700181245803833, | |
| -2.465467691421509, | |
| 0.8499587178230286 | |
| ], | |
| "ply_index": 505094, | |
| "point_label": "point_6", | |
| "point_timestamp": "2025-12-20T09:45:58.674140" | |
| }, | |
| { | |
| "name": "Knife", | |
| "location": 57, | |
| "surface": 1, | |
| "position_3d": [ | |
| -0.10263319313526154, | |
| -2.564626455307007, | |
| 0.9542378187179565 | |
| ], | |
| "ply_index": 532550, | |
| "point_label": "point_7", | |
| "point_timestamp": "2025-12-20T09:45:58.674168" | |
| } | |
| ], | |
| "steps": [ | |
| "Boil a pot of water and cook the penne for 8-10 minutes until al dente. Drain and set aside.", | |
| "Heat a pan and sauté the mushrooms.", | |
| "Cut the green paprika into pieces with a knife.", | |
| "Add the cooked penne and green paprika pieces to the pan.", | |
| "Season with chili pepper to taste and serve hot." | |
| ], | |
| "points_3d": { | |
| "source_ply": "meshape_full_blender_scaled_corr_new.ply", | |
| "total_points": 8, | |
| "source_json": "recipe3_1.json" | |
| } | |
| }, | |
| { | |
| "id": 4, | |
| "name": "Simple Wheat Flour Pancakes", | |
| "ingredients": [ | |
| { | |
| "name": "Wheat flour", | |
| "location": 46, | |
| "surface": 1, | |
| "position_3d": [ | |
| 1.4465643167495728, | |
| -1.1654274463653564, | |
| 0.9651873707771301 | |
| ], | |
| "ply_index": 745489, | |
| "point_label": "point_0", | |
| "point_timestamp": "2025-12-20T09:48:56.257104" | |
| }, | |
| { | |
| "name": "Sink", | |
| "location": "sink", | |
| "surface": 1, | |
| "position_3d": [ | |
| 0.3442568778991699, | |
| -2.570507049560547, | |
| 0.8606827259063721 | |
| ], | |
| "ply_index": 504203, | |
| "point_label": "point_1", | |
| "point_timestamp": "2025-12-20T09:48:56.257160" | |
| }, | |
| { | |
| "name": "Sugar", | |
| "location": 55, | |
| "surface": 1, | |
| "position_3d": [ | |
| 0.5889650583267212, | |
| -2.1788113117218018, | |
| 0.9544220566749573 | |
| ], | |
| "ply_index": 515631, | |
| "point_label": "point_2", | |
| "point_timestamp": "2025-12-20T09:48:56.257174" | |
| }, | |
| { | |
| "name": "Parmesan Cheese", | |
| "location": 39, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.6905876994132996, | |
| -1.4243688583374023, | |
| 0.9598738551139832 | |
| ], | |
| "ply_index": 784032, | |
| "point_label": "point_3", | |
| "point_timestamp": "2025-12-20T09:48:56.257186" | |
| }, | |
| { | |
| "name": "Knife", | |
| "location": 77, | |
| "surface": 3, | |
| "position_3d": [ | |
| -2.464822769165039, | |
| -2.554173231124878, | |
| 1.0354710817337036 | |
| ], | |
| "ply_index": 655542, | |
| "point_label": "point_4", | |
| "point_timestamp": "2025-12-20T09:48:56.257196" | |
| }, | |
| { | |
| "name": "Chili Mayo", | |
| "location": 52, | |
| "surface": 1, | |
| "position_3d": [ | |
| 0.34822434186935425, | |
| -1.9923653602600098, | |
| 0.9583970904350281 | |
| ], | |
| "ply_index": 541190, | |
| "point_label": "point_5", | |
| "point_timestamp": "2025-12-20T09:48:56.257208" | |
| }, | |
| { | |
| "name": "Beige Bowl", | |
| "location": 73, | |
| "surface": 3, | |
| "position_3d": [ | |
| -2.595712184906006, | |
| -2.395522117614746, | |
| 1.0388832092285156 | |
| ], | |
| "ply_index": 658384, | |
| "point_label": "point_6", | |
| "point_timestamp": "2025-12-20T09:48:56.257225" | |
| }, | |
| { | |
| "name": "Pan", | |
| "location": 53, | |
| "surface": 1, | |
| "position_3d": [ | |
| 0.9034682512283325, | |
| -1.879052996635437, | |
| 0.9503517150878906 | |
| ], | |
| "ply_index": 515856, | |
| "point_label": "point_7", | |
| "point_timestamp": "2025-12-20T09:48:56.257248" | |
| }, | |
| { | |
| "name": "Plate", | |
| "location": 20, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.618864893913269, | |
| -0.8123667240142822, | |
| 0.9633928537368774 | |
| ], | |
| "ply_index": 812113, | |
| "point_label": "point_8", | |
| "point_timestamp": "2025-12-20T09:48:56.257261" | |
| } | |
| ], | |
| "steps": [ | |
| "Use a cheese plane to shave thin slices of Parmesan cheese.", | |
| "Mix the wheat flour with water in a bowl, then stir in some Parmesan cheese.", | |
| "Heat a pan, pour in the batter, and spread it evenly.", | |
| "Cook on low heat until both sides are golden brown. Transfer to a dish.", | |
| "Add sugar and chili mayo to the pancake before serving." | |
| ], | |
| "points_3d": { | |
| "source_ply": "meshape_full_blender_scaled_corr_new.ply", | |
| "total_points": 9, | |
| "source_json": "recipe4_1.json" | |
| } | |
| }, | |
| { | |
| "id": 5, | |
| "name": "Quick Salad", | |
| "ingredients": [ | |
| { | |
| "name": "Carrot", | |
| "location": 30, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.7029475569725037, | |
| -1.1922883987426758, | |
| 0.9606825113296509 | |
| ], | |
| "ply_index": 811638, | |
| "point_label": "point_0", | |
| "point_timestamp": "2025-12-20T09:54:27.162136" | |
| }, | |
| { | |
| "name": "Arugula", | |
| "location": 17, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.2972968816757202, | |
| -0.33071663975715637, | |
| 0.9579163193702698 | |
| ], | |
| "ply_index": 314264, | |
| "point_label": "point_1", | |
| "point_timestamp": "2025-12-20T09:54:27.162206" | |
| }, | |
| { | |
| "name": "Spinach", | |
| "location": 26, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.2542575001716614, | |
| -0.6184401512145996, | |
| 0.9633185863494873 | |
| ], | |
| "ply_index": 812412, | |
| "point_label": "point_2", | |
| "point_timestamp": "2025-12-20T09:54:27.162219" | |
| }, | |
| { | |
| "name": "Red Paprika", | |
| "location": 38, | |
| "surface": 0, | |
| "position_3d": [ | |
| -0.5714964270591736, | |
| -1.284382939338684, | |
| 0.9618176221847534 | |
| ], | |
| "ply_index": 809531, | |
| "point_label": "point_3", | |
| "point_timestamp": "2025-12-20T09:54:27.162232" | |
| }, | |
| { | |
| "name": "Apple", | |
| "location": 79, | |
| "surface": 3, | |
| "position_3d": [ | |
| -2.672973155975342, | |
| -2.520381212234497, | |
| 1.0349712371826172 | |
| ], | |
| "ply_index": 657343, | |
| "point_label": "point_4", | |
| "point_timestamp": "2025-12-20T09:54:27.162241" | |
| }, | |
| { | |
| "name": "Lemon", | |
| "location": 78, | |
| "surface": 3, | |
| "position_3d": [ | |
| -2.2962446212768555, | |
| -2.7909910678863525, | |
| 1.0352094173431396 | |
| ], | |
| "ply_index": 649681, | |
| "point_label": "point_5", | |
| "point_timestamp": "2025-12-20T09:54:27.162262" | |
| }, | |
| { | |
| "name": "Large Bowl", | |
| "location": 42, | |
| "surface": 1, | |
| "position_3d": [ | |
| 0.31235986948013306, | |
| -1.9678291082382202, | |
| 0.9560074210166931 | |
| ], | |
| "ply_index": 541255, | |
| "point_label": "point_6", | |
| "point_timestamp": "2025-12-20T09:54:27.162291" | |
| }, | |
| { | |
| "name": "Small spoon", | |
| "location": 43, | |
| "surface": 1, | |
| "position_3d": [ | |
| 1.292499303817749, | |
| -0.7276575565338135, | |
| 0.9588479399681091 | |
| ], | |
| "ply_index": 561214, | |
| "point_label": "point_7", | |
| "point_timestamp": "2025-12-20T09:54:27.162309" | |
| }, | |
| { | |
| "name": "Knife", | |
| "location": 57, | |
| "surface": 1, | |
| "position_3d": [ | |
| -0.11989568173885345, | |
| -2.591947317123413, | |
| 0.9531084895133972 | |
| ], | |
| "ply_index": 532503, | |
| "point_label": "point_8", | |
| "point_timestamp": "2025-12-20T09:54:27.162322" | |
| }, | |
| { | |
| "name": "Chili Mayo", | |
| "location": 52, | |
| "surface": 1 | |
| } | |
| ], | |
| "steps": [ | |
| "Cut the carrot into small sticks with a knife.", | |
| "Cut the red paprika into small pieces with a knife.", | |
| "Slice the apple into thin pieces with a knife.", | |
| "Slice the lemon into thin pieces with a knife.", | |
| "Add all the prepared ingredients, along with the arugula and spinach, to a large bowl.", | |
| "Add Chili Mayo and sprinkle with salt.", | |
| "Use a spoon to toss and mix everything in the bowl." | |
| ], | |
| "points_3d": { | |
| "source_ply": "meshape_full_blender_scaled_corr_new.ply", | |
| "total_points": 10, | |
| "source_json": "recipe5_1.json" | |
| } | |
| } | |
| ] | |
| } |