images images listlengths 2 2 | problem stringlengths 734 736 | answer stringlengths 536 562 |
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<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0533,0.0070,0.6783,3.1408,0.0017,-0.0897,0.0389,-0.0389]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0134,0.0000,-0.0000,0.0000,0.0000,-0.0000,-1.0000],[0.0027,0.0000,-0.0000,0.0000,0.0000,-0.0000,-1.0000],[0.0000,-0.0107,-0.0000,0.0000,0.0000,-0.0000,-1.0000],[0.0000,-0.0536,-0.0000,0.0000,0.0000,-0.0000,-1.0000],[0.0000,-0.1259,-0.0134,0.0000,0.0000,-0.0000,-1.0000],[-0.0054,-0.2196,-0.0455,0.0000,0.0000,-0.0000,-1.0000],[-0.0295,-0.3000,-0.0750,0.0000,0.0000,-0.0000,-1.0000],[-0.0348,-0.3509,-0.0991,0.0000,0.0000,-0.0000,-1.0000],[-0.0188,-0.3964,-0.1179,0.0000,0.0000,-0.0000,-1.0000],[-0.0214,-0.4580,-0.1366,0.0086,0.0000,-0.0000,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0532,0.0070,0.6783,3.1407,0.0016,-0.0893,0.0390,-0.0390]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.0536,-0.0000,0.0000,0.0000,-0.0000,-1.0000],[0.0000,-0.1259,-0.0134,0.0000,0.0000,-0.0000,-1.0000],[-0.0054,-0.2196,-0.0455,0.0000,0.0000,-0.0000,-1.0000],[-0.0295,-0.3000,-0.0750,0.0000,0.0000,-0.0000,-1.0000],[-0.0348,-0.3509,-0.0991,0.0000,0.0000,-0.0000,-1.0000],[-0.0188,-0.3964,-0.1179,0.0000,0.0000,-0.0000,-1.0000],[-0.0214,-0.4580,-0.1366,0.0086,0.0000,-0.0000,-1.0000],[-0.0214,-0.5437,-0.1473,0.0257,0.0021,-0.0000,-1.0000],[0.0000,-0.6509,-0.1393,0.0461,0.0096,-0.0000,-1.0000],[0.0000,-0.6804,-0.1393,0.0504,0.0150,0.0032,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0531,0.0057,0.6782,3.1402,-0.0001,-0.0894,0.0391,-0.0391]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.0054,-0.2196,-0.0455,0.0000,0.0000,-0.0000,-1.0000],[-0.0295,-0.3000,-0.0750,0.0000,0.0000,-0.0000,-1.0000],[-0.0348,-0.3509,-0.0991,0.0000,0.0000,-0.0000,-1.0000],[-0.0188,-0.3964,-0.1179,0.0000,0.0000,-0.0000,-1.0000],[-0.0214,-0.4580,-0.1366,0.0086,0.0000,-0.0000,-1.0000],[-0.0214,-0.5437,-0.1473,0.0257,0.0021,-0.0000,-1.0000],[0.0000,-0.6509,-0.1393,0.0461,0.0096,-0.0000,-1.0000],[0.0000,-0.6804,-0.1393,0.0504,0.0150,0.0032,-1.0000],[0.0000,-0.7125,-0.1339,0.0557,0.0161,0.0086,-1.0000],[0.0000,-0.7286,-0.1339,0.0611,0.0150,0.0129,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0535,-0.0030,0.6764,3.1387,-0.0035,-0.0919,0.0392,-0.0392]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.0188,-0.3964,-0.1179,0.0000,0.0000,-0.0000,-1.0000],[-0.0214,-0.4580,-0.1366,0.0086,0.0000,-0.0000,-1.0000],[-0.0214,-0.5437,-0.1473,0.0257,0.0021,-0.0000,-1.0000],[0.0000,-0.6509,-0.1393,0.0461,0.0096,-0.0000,-1.0000],[0.0000,-0.6804,-0.1393,0.0504,0.0150,0.0032,-1.0000],[0.0000,-0.7125,-0.1339,0.0557,0.0161,0.0086,-1.0000],[0.0000,-0.7286,-0.1339,0.0611,0.0150,0.0129,-1.0000],[0.0000,-0.7205,-0.1366,0.0611,0.0064,0.0171,-1.0000],[0.0000,-0.6938,-0.1393,0.0568,0.0000,0.0204,-1.0000],[0.0000,-0.6482,-0.1580,0.0514,0.0000,0.0236,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0536,-0.0076,0.6752,3.1385,-0.0039,-0.0924,0.0392,-0.0393]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.0214,-0.4580,-0.1366,0.0086,0.0000,-0.0000,-1.0000],[-0.0214,-0.5437,-0.1473,0.0257,0.0021,-0.0000,-1.0000],[0.0000,-0.6509,-0.1393,0.0461,0.0096,-0.0000,-1.0000],[0.0000,-0.6804,-0.1393,0.0504,0.0150,0.0032,-1.0000],[0.0000,-0.7125,-0.1339,0.0557,0.0161,0.0086,-1.0000],[0.0000,-0.7286,-0.1339,0.0611,0.0150,0.0129,-1.0000],[0.0000,-0.7205,-0.1366,0.0611,0.0064,0.0171,-1.0000],[0.0000,-0.6938,-0.1393,0.0568,0.0000,0.0204,-1.0000],[0.0000,-0.6482,-0.1580,0.0514,0.0000,0.0236,-1.0000],[0.0000,-0.5839,-0.1688,0.0396,0.0000,0.0268,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0541,-0.0189,0.6719,3.1402,-0.0059,-0.0935,0.0393,-0.0393]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.6509,-0.1393,0.0461,0.0096,-0.0000,-1.0000],[0.0000,-0.6804,-0.1393,0.0504,0.0150,0.0032,-1.0000],[0.0000,-0.7125,-0.1339,0.0557,0.0161,0.0086,-1.0000],[0.0000,-0.7286,-0.1339,0.0611,0.0150,0.0129,-1.0000],[0.0000,-0.7205,-0.1366,0.0611,0.0064,0.0171,-1.0000],[0.0000,-0.6938,-0.1393,0.0568,0.0000,0.0204,-1.0000],[0.0000,-0.6482,-0.1580,0.0514,0.0000,0.0236,-1.0000],[0.0000,-0.5839,-0.1688,0.0396,0.0000,0.0268,-1.0000],[0.0000,-0.5277,-0.1795,0.0289,0.0000,0.0268,-1.0000],[0.0321,-0.4313,-0.2089,0.0139,0.0000,0.0289,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0548,-0.0341,0.6680,3.1483,-0.0088,-0.0951,0.0393,-0.0394]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.7125,-0.1339,0.0557,0.0161,0.0086,-1.0000],[0.0000,-0.7286,-0.1339,0.0611,0.0150,0.0129,-1.0000],[0.0000,-0.7205,-0.1366,0.0611,0.0064,0.0171,-1.0000],[0.0000,-0.6938,-0.1393,0.0568,0.0000,0.0204,-1.0000],[0.0000,-0.6482,-0.1580,0.0514,0.0000,0.0236,-1.0000],[0.0000,-0.5839,-0.1688,0.0396,0.0000,0.0268,-1.0000],[0.0000,-0.5277,-0.1795,0.0289,0.0000,0.0268,-1.0000],[0.0321,-0.4313,-0.2089,0.0139,0.0000,0.0289,-1.0000],[0.0777,-0.2330,-0.2732,0.0000,0.0000,0.0396,-1.0000],[0.0402,-0.1500,-0.3161,0.0000,0.0000,0.0429,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0558,-0.0519,0.6639,3.1608,-0.0074,-0.0975,0.0394,-0.0395]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.7205,-0.1366,0.0611,0.0064,0.0171,-1.0000],[0.0000,-0.6938,-0.1393,0.0568,0.0000,0.0204,-1.0000],[0.0000,-0.6482,-0.1580,0.0514,0.0000,0.0236,-1.0000],[0.0000,-0.5839,-0.1688,0.0396,0.0000,0.0268,-1.0000],[0.0000,-0.5277,-0.1795,0.0289,0.0000,0.0268,-1.0000],[0.0321,-0.4313,-0.2089,0.0139,0.0000,0.0289,-1.0000],[0.0777,-0.2330,-0.2732,0.0000,0.0000,0.0396,-1.0000],[0.0402,-0.1500,-0.3161,0.0000,0.0000,0.0429,-1.0000],[0.0000,-0.0964,-0.3616,0.0000,0.0000,0.0471,-1.0000],[0.0000,-0.0723,-0.3964,0.0000,0.0000,0.0471,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0574,-0.0877,0.6555,3.1881,0.0100,-0.0948,0.0395,-0.0396]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.5277,-0.1795,0.0289,0.0000,0.0268,-1.0000],[0.0321,-0.4313,-0.2089,0.0139,0.0000,0.0289,-1.0000],[0.0777,-0.2330,-0.2732,0.0000,0.0000,0.0396,-1.0000],[0.0402,-0.1500,-0.3161,0.0000,0.0000,0.0429,-1.0000],[0.0000,-0.0964,-0.3616,0.0000,0.0000,0.0471,-1.0000],[0.0000,-0.0723,-0.3964,0.0000,0.0000,0.0471,-1.0000],[-0.0295,-0.0857,-0.4286,0.0000,0.0000,0.0450,-1.0000],[-0.0696,-0.0991,-0.4473,0.0000,0.0000,0.0418,-1.0000],[-0.0830,-0.0884,-0.4688,0.0000,-0.0043,0.0418,-1.0000],[-0.1152,-0.0562,-0.4929,0.0000,-0.0054,0.0429,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0574,-0.1074,0.6472,3.1979,0.0325,-0.0927,0.0395,-0.0396]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0402,-0.1500,-0.3161,0.0000,0.0000,0.0429,-1.0000],[0.0000,-0.0964,-0.3616,0.0000,0.0000,0.0471,-1.0000],[0.0000,-0.0723,-0.3964,0.0000,0.0000,0.0471,-1.0000],[-0.0295,-0.0857,-0.4286,0.0000,0.0000,0.0450,-1.0000],[-0.0696,-0.0991,-0.4473,0.0000,0.0000,0.0418,-1.0000],[-0.0830,-0.0884,-0.4688,0.0000,-0.0043,0.0418,-1.0000],[-0.1152,-0.0562,-0.4929,0.0000,-0.0054,0.0429,-1.0000],[-0.1312,-0.0375,-0.4982,0.0000,-0.0064,0.0461,-1.0000],[-0.1795,-0.0321,-0.5009,0.0000,-0.0118,0.0461,-1.0000],[-0.2250,-0.0348,-0.4902,0.0000,-0.0139,0.0439,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0563,-0.1130,0.6390,3.1994,0.0530,-0.0959,0.0396,-0.0396]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.0723,-0.3964,0.0000,0.0000,0.0471,-1.0000],[-0.0295,-0.0857,-0.4286,0.0000,0.0000,0.0450,-1.0000],[-0.0696,-0.0991,-0.4473,0.0000,0.0000,0.0418,-1.0000],[-0.0830,-0.0884,-0.4688,0.0000,-0.0043,0.0418,-1.0000],[-0.1152,-0.0562,-0.4929,0.0000,-0.0054,0.0429,-1.0000],[-0.1312,-0.0375,-0.4982,0.0000,-0.0064,0.0461,-1.0000],[-0.1795,-0.0321,-0.5009,0.0000,-0.0118,0.0461,-1.0000],[-0.2250,-0.0348,-0.4902,0.0000,-0.0139,0.0439,-1.0000],[-0.2839,-0.0482,-0.4768,0.0000,-0.0150,0.0375,-1.0000],[-0.3375,-0.0616,-0.4688,0.0000,-0.0161,0.0343,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0560,-0.1145,0.6343,3.1997,0.0633,-0.0985,0.0396,-0.0396]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.0295,-0.0857,-0.4286,0.0000,0.0000,0.0450,-1.0000],[-0.0696,-0.0991,-0.4473,0.0000,0.0000,0.0418,-1.0000],[-0.0830,-0.0884,-0.4688,0.0000,-0.0043,0.0418,-1.0000],[-0.1152,-0.0562,-0.4929,0.0000,-0.0054,0.0429,-1.0000],[-0.1312,-0.0375,-0.4982,0.0000,-0.0064,0.0461,-1.0000],[-0.1795,-0.0321,-0.5009,0.0000,-0.0118,0.0461,-1.0000],[-0.2250,-0.0348,-0.4902,0.0000,-0.0139,0.0439,-1.0000],[-0.2839,-0.0482,-0.4768,0.0000,-0.0150,0.0375,-1.0000],[-0.3375,-0.0616,-0.4688,0.0000,-0.0161,0.0343,-1.0000],[-0.3509,-0.0616,-0.4607,0.0000,-0.0150,0.0343,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0565,-0.1184,0.6181,3.1994,0.0901,-0.1072,0.0397,-0.0397]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.1152,-0.0562,-0.4929,0.0000,-0.0054,0.0429,-1.0000],[-0.1312,-0.0375,-0.4982,0.0000,-0.0064,0.0461,-1.0000],[-0.1795,-0.0321,-0.5009,0.0000,-0.0118,0.0461,-1.0000],[-0.2250,-0.0348,-0.4902,0.0000,-0.0139,0.0439,-1.0000],[-0.2839,-0.0482,-0.4768,0.0000,-0.0150,0.0375,-1.0000],[-0.3375,-0.0616,-0.4688,0.0000,-0.0161,0.0343,-1.0000],[-0.3509,-0.0616,-0.4607,0.0000,-0.0150,0.0343,-1.0000],[-0.3429,-0.0509,-0.4473,0.0000,-0.0107,0.0354,-1.0000],[-0.3214,-0.0429,-0.4179,-0.0032,-0.0032,0.0364,-1.0000],[-0.2973,-0.0402,-0.3911,-0.0064,0.0000,0.0386,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0598,-0.1209,0.5999,3.1994,0.1172,-0.1142,0.0397,-0.0397]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.2250,-0.0348,-0.4902,0.0000,-0.0139,0.0439,-1.0000],[-0.2839,-0.0482,-0.4768,0.0000,-0.0150,0.0375,-1.0000],[-0.3375,-0.0616,-0.4688,0.0000,-0.0161,0.0343,-1.0000],[-0.3509,-0.0616,-0.4607,0.0000,-0.0150,0.0343,-1.0000],[-0.3429,-0.0509,-0.4473,0.0000,-0.0107,0.0354,-1.0000],[-0.3214,-0.0429,-0.4179,-0.0032,-0.0032,0.0364,-1.0000],[-0.2973,-0.0402,-0.3911,-0.0064,0.0000,0.0386,-1.0000],[-0.2384,-0.0214,-0.3295,-0.0150,0.0000,0.0418,-1.0000],[-0.1634,-0.0161,-0.2518,-0.0236,0.0000,0.0450,1.0000],[-0.0482,-0.0268,-0.1500,-0.0321,0.0129,0.0471,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0874,-0.1269,0.5553,3.1964,0.1790,-0.1212,0.0398,-0.0398]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.1634,-0.0161,-0.2518,-0.0236,0.0000,0.0450,1.0000],[-0.0482,-0.0268,-0.1500,-0.0321,0.0129,0.0471,1.0000],[0.0000,-0.0214,-0.0616,-0.0429,0.0193,0.0471,1.0000],[0.0000,-0.0188,-0.0000,-0.0514,0.0193,0.0471,1.0000],[0.0000,-0.0482,-0.0000,-0.0546,0.0182,0.0418,1.0000],[0.0107,-0.0589,-0.0000,-0.0579,0.0182,0.0386,1.0000],[0.0188,-0.0696,-0.0000,-0.0611,0.0171,0.0354,1.0000],[0.0107,-0.0911,-0.0000,-0.0621,0.0129,0.0300,1.0000],[0.0000,-0.1071,-0.0000,-0.0611,0.0107,0.0279,1.0000],[0.0000,-0.1152,0.0161,-0.0632,0.0086,0.0246,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0905,-0.1273,0.5511,3.1932,0.1879,-0.1193,0.0394,-0.0394]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.0482,-0.0268,-0.1500,-0.0321,0.0129,0.0471,1.0000],[0.0000,-0.0214,-0.0616,-0.0429,0.0193,0.0471,1.0000],[0.0000,-0.0188,-0.0000,-0.0514,0.0193,0.0471,1.0000],[0.0000,-0.0482,-0.0000,-0.0546,0.0182,0.0418,1.0000],[0.0107,-0.0589,-0.0000,-0.0579,0.0182,0.0386,1.0000],[0.0188,-0.0696,-0.0000,-0.0611,0.0171,0.0354,1.0000],[0.0107,-0.0911,-0.0000,-0.0621,0.0129,0.0300,1.0000],[0.0000,-0.1071,-0.0000,-0.0611,0.0107,0.0279,1.0000],[0.0000,-0.1152,0.0161,-0.0632,0.0086,0.0246,1.0000],[0.0000,-0.1527,0.0964,-0.0643,0.0086,0.0150,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0927,-0.1277,0.5479,3.1886,0.1972,-0.1165,0.0374,-0.0373]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.0214,-0.0616,-0.0429,0.0193,0.0471,1.0000],[0.0000,-0.0188,-0.0000,-0.0514,0.0193,0.0471,1.0000],[0.0000,-0.0482,-0.0000,-0.0546,0.0182,0.0418,1.0000],[0.0107,-0.0589,-0.0000,-0.0579,0.0182,0.0386,1.0000],[0.0188,-0.0696,-0.0000,-0.0611,0.0171,0.0354,1.0000],[0.0107,-0.0911,-0.0000,-0.0621,0.0129,0.0300,1.0000],[0.0000,-0.1071,-0.0000,-0.0611,0.0107,0.0279,1.0000],[0.0000,-0.1152,0.0161,-0.0632,0.0086,0.0246,1.0000],[0.0000,-0.1527,0.0964,-0.0643,0.0086,0.0150,1.0000],[0.0027,-0.1741,0.1848,-0.0632,0.0129,0.0064,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0954,-0.1285,0.5443,3.1757,0.2163,-0.1139,0.0299,-0.0298]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.0482,-0.0000,-0.0546,0.0182,0.0418,1.0000],[0.0107,-0.0589,-0.0000,-0.0579,0.0182,0.0386,1.0000],[0.0188,-0.0696,-0.0000,-0.0611,0.0171,0.0354,1.0000],[0.0107,-0.0911,-0.0000,-0.0621,0.0129,0.0300,1.0000],[0.0000,-0.1071,-0.0000,-0.0611,0.0107,0.0279,1.0000],[0.0000,-0.1152,0.0161,-0.0632,0.0086,0.0246,1.0000],[0.0000,-0.1527,0.0964,-0.0643,0.0086,0.0150,1.0000],[0.0027,-0.1741,0.1848,-0.0632,0.0129,0.0064,1.0000],[0.0080,-0.1982,0.2839,-0.0579,0.0107,-0.0000,1.0000],[0.0000,-0.2277,0.3991,-0.0536,0.0000,-0.0000,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0971,-0.1317,0.5428,3.1421,0.2457,-0.1211,0.0110,-0.0109]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.1071,-0.0000,-0.0611,0.0107,0.0279,1.0000],[0.0000,-0.1152,0.0161,-0.0632,0.0086,0.0246,1.0000],[0.0000,-0.1527,0.0964,-0.0643,0.0086,0.0150,1.0000],[0.0027,-0.1741,0.1848,-0.0632,0.0129,0.0064,1.0000],[0.0080,-0.1982,0.2839,-0.0579,0.0107,-0.0000,1.0000],[0.0000,-0.2277,0.3991,-0.0536,0.0000,-0.0000,1.0000],[0.0000,-0.2438,0.4795,-0.0471,0.0000,-0.0000,1.0000],[0.0000,-0.2705,0.5518,-0.0332,0.0000,-0.0000,1.0000],[0.0214,-0.2759,0.5920,-0.0279,0.0000,-0.0000,1.0000],[0.0723,-0.2759,0.6295,-0.0236,0.0000,-0.0000,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0981,-0.1427,0.5519,3.0925,0.2565,-0.1328,0.0049,-0.0059]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.2438,0.4795,-0.0471,0.0000,-0.0000,1.0000],[0.0000,-0.2705,0.5518,-0.0332,0.0000,-0.0000,1.0000],[0.0214,-0.2759,0.5920,-0.0279,0.0000,-0.0000,1.0000],[0.0723,-0.2759,0.6295,-0.0236,0.0000,-0.0000,1.0000],[0.1634,-0.3080,0.6429,-0.0171,-0.0096,-0.0000,1.0000],[0.2384,-0.3268,0.6187,-0.0118,-0.0150,-0.0000,1.0000],[0.2920,-0.3455,0.5893,-0.0096,-0.0161,-0.0000,1.0000],[0.3804,-0.3616,0.5223,-0.0107,-0.0129,-0.0000,1.0000],[0.4152,-0.3777,0.4929,-0.0118,-0.0086,-0.0000,1.0000],[0.4313,-0.4205,0.4393,-0.0043,-0.0086,-0.0000,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0988,-0.1485,0.5636,3.0798,0.2533,-0.1307,0.0049,-0.0059]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0214,-0.2759,0.5920,-0.0279,0.0000,-0.0000,1.0000],[0.0723,-0.2759,0.6295,-0.0236,0.0000,-0.0000,1.0000],[0.1634,-0.3080,0.6429,-0.0171,-0.0096,-0.0000,1.0000],[0.2384,-0.3268,0.6187,-0.0118,-0.0150,-0.0000,1.0000],[0.2920,-0.3455,0.5893,-0.0096,-0.0161,-0.0000,1.0000],[0.3804,-0.3616,0.5223,-0.0107,-0.0129,-0.0000,1.0000],[0.4152,-0.3777,0.4929,-0.0118,-0.0086,-0.0000,1.0000],[0.4313,-0.4205,0.4393,-0.0043,-0.0086,-0.0000,1.0000],[0.4714,-0.4634,0.3241,0.0000,0.0000,-0.0000,1.0000],[0.4741,-0.4768,0.2571,0.0000,0.0000,-0.0000,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0992,-0.1517,0.5707,3.0750,0.2520,-0.1286,0.0049,-0.0058]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0723,-0.2759,0.6295,-0.0236,0.0000,-0.0000,1.0000],[0.1634,-0.3080,0.6429,-0.0171,-0.0096,-0.0000,1.0000],[0.2384,-0.3268,0.6187,-0.0118,-0.0150,-0.0000,1.0000],[0.2920,-0.3455,0.5893,-0.0096,-0.0161,-0.0000,1.0000],[0.3804,-0.3616,0.5223,-0.0107,-0.0129,-0.0000,1.0000],[0.4152,-0.3777,0.4929,-0.0118,-0.0086,-0.0000,1.0000],[0.4313,-0.4205,0.4393,-0.0043,-0.0086,-0.0000,1.0000],[0.4714,-0.4634,0.3241,0.0000,0.0000,-0.0000,1.0000],[0.4741,-0.4768,0.2571,0.0000,0.0000,-0.0000,1.0000],[0.4634,-0.5009,0.1473,0.0000,0.0000,-0.0000,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0994,-0.1550,0.5783,3.0707,0.2511,-0.1254,0.0049,-0.0058]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.1634,-0.3080,0.6429,-0.0171,-0.0096,-0.0000,1.0000],[0.2384,-0.3268,0.6187,-0.0118,-0.0150,-0.0000,1.0000],[0.2920,-0.3455,0.5893,-0.0096,-0.0161,-0.0000,1.0000],[0.3804,-0.3616,0.5223,-0.0107,-0.0129,-0.0000,1.0000],[0.4152,-0.3777,0.4929,-0.0118,-0.0086,-0.0000,1.0000],[0.4313,-0.4205,0.4393,-0.0043,-0.0086,-0.0000,1.0000],[0.4714,-0.4634,0.3241,0.0000,0.0000,-0.0000,1.0000],[0.4741,-0.4768,0.2571,0.0000,0.0000,-0.0000,1.0000],[0.4634,-0.5009,0.1473,0.0000,0.0000,-0.0000,1.0000],[0.4500,-0.5143,-0.0000,0.0000,0.0000,-0.0000,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0988,-0.1584,0.5862,3.0667,0.2503,-0.1199,0.0049,-0.0058]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.2384,-0.3268,0.6187,-0.0118,-0.0150,-0.0000,1.0000],[0.2920,-0.3455,0.5893,-0.0096,-0.0161,-0.0000,1.0000],[0.3804,-0.3616,0.5223,-0.0107,-0.0129,-0.0000,1.0000],[0.4152,-0.3777,0.4929,-0.0118,-0.0086,-0.0000,1.0000],[0.4313,-0.4205,0.4393,-0.0043,-0.0086,-0.0000,1.0000],[0.4714,-0.4634,0.3241,0.0000,0.0000,-0.0000,1.0000],[0.4741,-0.4768,0.2571,0.0000,0.0000,-0.0000,1.0000],[0.4634,-0.5009,0.1473,0.0000,0.0000,-0.0000,1.0000],[0.4500,-0.5143,-0.0000,0.0000,0.0000,-0.0000,1.0000],[0.4446,-0.5384,-0.0000,0.0000,0.0107,-0.0011,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0973,-0.1621,0.5940,3.0630,0.2494,-0.1121,0.0050,-0.0058]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.2920,-0.3455,0.5893,-0.0096,-0.0161,-0.0000,1.0000],[0.3804,-0.3616,0.5223,-0.0107,-0.0129,-0.0000,1.0000],[0.4152,-0.3777,0.4929,-0.0118,-0.0086,-0.0000,1.0000],[0.4313,-0.4205,0.4393,-0.0043,-0.0086,-0.0000,1.0000],[0.4714,-0.4634,0.3241,0.0000,0.0000,-0.0000,1.0000],[0.4741,-0.4768,0.2571,0.0000,0.0000,-0.0000,1.0000],[0.4634,-0.5009,0.1473,0.0000,0.0000,-0.0000,1.0000],[0.4500,-0.5143,-0.0000,0.0000,0.0000,-0.0000,1.0000],[0.4446,-0.5384,-0.0000,0.0000,0.0107,-0.0011,1.0000],[0.4366,-0.5304,-0.0429,0.0000,0.0257,-0.0043,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0921,-0.1700,0.6081,3.0563,0.2478,-0.0937,0.0050,-0.0058]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.4152,-0.3777,0.4929,-0.0118,-0.0086,-0.0000,1.0000],[0.4313,-0.4205,0.4393,-0.0043,-0.0086,-0.0000,1.0000],[0.4714,-0.4634,0.3241,0.0000,0.0000,-0.0000,1.0000],[0.4741,-0.4768,0.2571,0.0000,0.0000,-0.0000,1.0000],[0.4634,-0.5009,0.1473,0.0000,0.0000,-0.0000,1.0000],[0.4500,-0.5143,-0.0000,0.0000,0.0000,-0.0000,1.0000],[0.4446,-0.5384,-0.0000,0.0000,0.0107,-0.0011,1.0000],[0.4366,-0.5304,-0.0429,0.0000,0.0257,-0.0043,1.0000],[0.4071,-0.5143,-0.1045,0.0000,0.0279,-0.0054,1.0000],[0.3536,-0.4714,-0.2116,0.0000,0.0193,-0.0086,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0884,-0.1744,0.6141,3.0528,0.2472,-0.0848,0.0050,-0.0058]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.4313,-0.4205,0.4393,-0.0043,-0.0086,-0.0000,1.0000],[0.4714,-0.4634,0.3241,0.0000,0.0000,-0.0000,1.0000],[0.4741,-0.4768,0.2571,0.0000,0.0000,-0.0000,1.0000],[0.4634,-0.5009,0.1473,0.0000,0.0000,-0.0000,1.0000],[0.4500,-0.5143,-0.0000,0.0000,0.0000,-0.0000,1.0000],[0.4446,-0.5384,-0.0000,0.0000,0.0107,-0.0011,1.0000],[0.4366,-0.5304,-0.0429,0.0000,0.0257,-0.0043,1.0000],[0.4071,-0.5143,-0.1045,0.0000,0.0279,-0.0054,1.0000],[0.3536,-0.4714,-0.2116,0.0000,0.0193,-0.0086,1.0000],[0.3268,-0.4152,-0.2812,0.0000,0.0139,-0.0086,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0796,-0.1842,0.6239,3.0469,0.2459,-0.0700,0.0050,-0.0057]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.4741,-0.4768,0.2571,0.0000,0.0000,-0.0000,1.0000],[0.4634,-0.5009,0.1473,0.0000,0.0000,-0.0000,1.0000],[0.4500,-0.5143,-0.0000,0.0000,0.0000,-0.0000,1.0000],[0.4446,-0.5384,-0.0000,0.0000,0.0107,-0.0011,1.0000],[0.4366,-0.5304,-0.0429,0.0000,0.0257,-0.0043,1.0000],[0.4071,-0.5143,-0.1045,0.0000,0.0279,-0.0054,1.0000],[0.3536,-0.4714,-0.2116,0.0000,0.0193,-0.0086,1.0000],[0.3268,-0.4152,-0.2812,0.0000,0.0139,-0.0086,1.0000],[0.2920,-0.3482,-0.3107,0.0043,0.0139,-0.0139,1.0000],[0.2357,-0.3187,-0.3402,0.0107,0.0118,-0.0193,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0698,-0.1954,0.6290,3.0438,0.2453,-0.0624,0.0050,-0.0057]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.4500,-0.5143,-0.0000,0.0000,0.0000,-0.0000,1.0000],[0.4446,-0.5384,-0.0000,0.0000,0.0107,-0.0011,1.0000],[0.4366,-0.5304,-0.0429,0.0000,0.0257,-0.0043,1.0000],[0.4071,-0.5143,-0.1045,0.0000,0.0279,-0.0054,1.0000],[0.3536,-0.4714,-0.2116,0.0000,0.0193,-0.0086,1.0000],[0.3268,-0.4152,-0.2812,0.0000,0.0139,-0.0086,1.0000],[0.2920,-0.3482,-0.3107,0.0043,0.0139,-0.0139,1.0000],[0.2357,-0.3187,-0.3402,0.0107,0.0118,-0.0193,1.0000],[0.1634,-0.2946,-0.3670,0.0171,0.0129,-0.0214,1.0000],[0.0777,-0.2223,-0.3884,0.0311,0.0289,-0.0161,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0595,-0.2080,0.6291,3.0424,0.2449,-0.0615,0.0050,-0.0057]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.4366,-0.5304,-0.0429,0.0000,0.0257,-0.0043,1.0000],[0.4071,-0.5143,-0.1045,0.0000,0.0279,-0.0054,1.0000],[0.3536,-0.4714,-0.2116,0.0000,0.0193,-0.0086,1.0000],[0.3268,-0.4152,-0.2812,0.0000,0.0139,-0.0086,1.0000],[0.2920,-0.3482,-0.3107,0.0043,0.0139,-0.0139,1.0000],[0.2357,-0.3187,-0.3402,0.0107,0.0118,-0.0193,1.0000],[0.1634,-0.2946,-0.3670,0.0171,0.0129,-0.0214,1.0000],[0.0777,-0.2223,-0.3884,0.0311,0.0289,-0.0161,1.0000],[0.0348,-0.1634,-0.3857,0.0354,0.0375,-0.0139,1.0000],[0.0188,-0.1071,-0.3804,0.0343,0.0461,-0.0129,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0494,-0.2215,0.6269,3.0406,0.2440,-0.0655,0.0051,-0.0057]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.3536,-0.4714,-0.2116,0.0000,0.0193,-0.0086,1.0000],[0.3268,-0.4152,-0.2812,0.0000,0.0139,-0.0086,1.0000],[0.2920,-0.3482,-0.3107,0.0043,0.0139,-0.0139,1.0000],[0.2357,-0.3187,-0.3402,0.0107,0.0118,-0.0193,1.0000],[0.1634,-0.2946,-0.3670,0.0171,0.0129,-0.0214,1.0000],[0.0777,-0.2223,-0.3884,0.0311,0.0289,-0.0161,1.0000],[0.0348,-0.1634,-0.3857,0.0354,0.0375,-0.0139,1.0000],[0.0188,-0.1071,-0.3804,0.0343,0.0461,-0.0129,1.0000],[0.0188,-0.0375,-0.3670,0.0257,0.0493,-0.0129,1.0000],[0.0107,0.0000,-0.3429,0.0150,0.0611,-0.0096,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0446,-0.2279,0.6246,3.0403,0.2432,-0.0697,0.0051,-0.0057]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.3268,-0.4152,-0.2812,0.0000,0.0139,-0.0086,1.0000],[0.2920,-0.3482,-0.3107,0.0043,0.0139,-0.0139,1.0000],[0.2357,-0.3187,-0.3402,0.0107,0.0118,-0.0193,1.0000],[0.1634,-0.2946,-0.3670,0.0171,0.0129,-0.0214,1.0000],[0.0777,-0.2223,-0.3884,0.0311,0.0289,-0.0161,1.0000],[0.0348,-0.1634,-0.3857,0.0354,0.0375,-0.0139,1.0000],[0.0188,-0.1071,-0.3804,0.0343,0.0461,-0.0129,1.0000],[0.0188,-0.0375,-0.3670,0.0257,0.0493,-0.0129,1.0000],[0.0107,0.0000,-0.3429,0.0150,0.0611,-0.0096,1.0000],[0.0000,0.0000,-0.3054,0.0075,0.0761,-0.0064,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0400,-0.2338,0.6215,3.0406,0.2421,-0.0742,0.0051,-0.0057]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.2920,-0.3482,-0.3107,0.0043,0.0139,-0.0139,1.0000],[0.2357,-0.3187,-0.3402,0.0107,0.0118,-0.0193,1.0000],[0.1634,-0.2946,-0.3670,0.0171,0.0129,-0.0214,1.0000],[0.0777,-0.2223,-0.3884,0.0311,0.0289,-0.0161,1.0000],[0.0348,-0.1634,-0.3857,0.0354,0.0375,-0.0139,1.0000],[0.0188,-0.1071,-0.3804,0.0343,0.0461,-0.0129,1.0000],[0.0188,-0.0375,-0.3670,0.0257,0.0493,-0.0129,1.0000],[0.0107,0.0000,-0.3429,0.0150,0.0611,-0.0096,1.0000],[0.0000,0.0000,-0.3054,0.0075,0.0761,-0.0064,1.0000],[0.0000,0.0000,-0.2839,0.0032,0.0825,-0.0075,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0356,-0.2390,0.6177,3.0417,0.2406,-0.0789,0.0051,-0.0057]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.2357,-0.3187,-0.3402,0.0107,0.0118,-0.0193,1.0000],[0.1634,-0.2946,-0.3670,0.0171,0.0129,-0.0214,1.0000],[0.0777,-0.2223,-0.3884,0.0311,0.0289,-0.0161,1.0000],[0.0348,-0.1634,-0.3857,0.0354,0.0375,-0.0139,1.0000],[0.0188,-0.1071,-0.3804,0.0343,0.0461,-0.0129,1.0000],[0.0188,-0.0375,-0.3670,0.0257,0.0493,-0.0129,1.0000],[0.0107,0.0000,-0.3429,0.0150,0.0611,-0.0096,1.0000],[0.0000,0.0000,-0.3054,0.0075,0.0761,-0.0064,1.0000],[0.0000,0.0000,-0.2839,0.0032,0.0825,-0.0075,1.0000],[0.0000,0.0000,-0.2652,0.0011,0.0846,-0.0086,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0318,-0.2436,0.6136,3.0438,0.2381,-0.0839,0.0051,-0.0057]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.1634,-0.2946,-0.3670,0.0171,0.0129,-0.0214,1.0000],[0.0777,-0.2223,-0.3884,0.0311,0.0289,-0.0161,1.0000],[0.0348,-0.1634,-0.3857,0.0354,0.0375,-0.0139,1.0000],[0.0188,-0.1071,-0.3804,0.0343,0.0461,-0.0129,1.0000],[0.0188,-0.0375,-0.3670,0.0257,0.0493,-0.0129,1.0000],[0.0107,0.0000,-0.3429,0.0150,0.0611,-0.0096,1.0000],[0.0000,0.0000,-0.3054,0.0075,0.0761,-0.0064,1.0000],[0.0000,0.0000,-0.2839,0.0032,0.0825,-0.0075,1.0000],[0.0000,0.0000,-0.2652,0.0011,0.0846,-0.0086,1.0000],[0.0000,0.0000,-0.2598,0.0000,0.0804,-0.0064,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0286,-0.2478,0.6092,3.0470,0.2345,-0.0895,0.0051,-0.0057]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0777,-0.2223,-0.3884,0.0311,0.0289,-0.0161,1.0000],[0.0348,-0.1634,-0.3857,0.0354,0.0375,-0.0139,1.0000],[0.0188,-0.1071,-0.3804,0.0343,0.0461,-0.0129,1.0000],[0.0188,-0.0375,-0.3670,0.0257,0.0493,-0.0129,1.0000],[0.0107,0.0000,-0.3429,0.0150,0.0611,-0.0096,1.0000],[0.0000,0.0000,-0.3054,0.0075,0.0761,-0.0064,1.0000],[0.0000,0.0000,-0.2839,0.0032,0.0825,-0.0075,1.0000],[0.0000,0.0000,-0.2652,0.0011,0.0846,-0.0086,1.0000],[0.0000,0.0000,-0.2598,0.0000,0.0804,-0.0064,1.0000],[-0.0348,0.0000,-0.2571,0.0000,0.0771,-0.0075,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0264,-0.2514,0.6044,3.0518,0.2312,-0.0972,0.0051,-0.0056]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0348,-0.1634,-0.3857,0.0354,0.0375,-0.0139,1.0000],[0.0188,-0.1071,-0.3804,0.0343,0.0461,-0.0129,1.0000],[0.0188,-0.0375,-0.3670,0.0257,0.0493,-0.0129,1.0000],[0.0107,0.0000,-0.3429,0.0150,0.0611,-0.0096,1.0000],[0.0000,0.0000,-0.3054,0.0075,0.0761,-0.0064,1.0000],[0.0000,0.0000,-0.2839,0.0032,0.0825,-0.0075,1.0000],[0.0000,0.0000,-0.2652,0.0011,0.0846,-0.0086,1.0000],[0.0000,0.0000,-0.2598,0.0000,0.0804,-0.0064,1.0000],[-0.0348,0.0000,-0.2571,0.0000,0.0771,-0.0075,1.0000],[-0.0429,0.0000,-0.2571,0.0000,0.0739,-0.0086,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0243,-0.2564,0.5946,3.0641,0.2273,-0.1171,0.0051,-0.0056]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0188,-0.0375,-0.3670,0.0257,0.0493,-0.0129,1.0000],[0.0107,0.0000,-0.3429,0.0150,0.0611,-0.0096,1.0000],[0.0000,0.0000,-0.3054,0.0075,0.0761,-0.0064,1.0000],[0.0000,0.0000,-0.2839,0.0032,0.0825,-0.0075,1.0000],[0.0000,0.0000,-0.2652,0.0011,0.0846,-0.0086,1.0000],[0.0000,0.0000,-0.2598,0.0000,0.0804,-0.0064,1.0000],[-0.0348,0.0000,-0.2571,0.0000,0.0771,-0.0075,1.0000],[-0.0429,0.0000,-0.2571,0.0000,0.0739,-0.0086,1.0000],[-0.0375,0.0000,-0.2518,0.0000,0.0686,-0.0086,1.0000],[-0.0348,0.0000,-0.2330,0.0000,0.0589,-0.0086,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0234,-0.2600,0.5810,3.0777,0.2252,-0.1549,0.0051,-0.0056]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,0.0000,-0.2839,0.0032,0.0825,-0.0075,1.0000],[0.0000,0.0000,-0.2652,0.0011,0.0846,-0.0086,1.0000],[0.0000,0.0000,-0.2598,0.0000,0.0804,-0.0064,1.0000],[-0.0348,0.0000,-0.2571,0.0000,0.0771,-0.0075,1.0000],[-0.0429,0.0000,-0.2571,0.0000,0.0739,-0.0086,1.0000],[-0.0375,0.0000,-0.2518,0.0000,0.0686,-0.0086,1.0000],[-0.0348,0.0000,-0.2330,0.0000,0.0589,-0.0086,1.0000],[-0.0214,-0.0027,-0.2277,0.0000,0.0568,-0.0096,1.0000],[0.0000,-0.0027,-0.1875,0.0000,0.0482,-0.0129,1.0000],[0.0000,0.0000,-0.1286,0.0000,0.0396,-0.0161,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0235,-0.2606,0.5770,3.0795,0.2250,-0.1706,0.0051,-0.0056]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,0.0000,-0.2652,0.0011,0.0846,-0.0086,1.0000],[0.0000,0.0000,-0.2598,0.0000,0.0804,-0.0064,1.0000],[-0.0348,0.0000,-0.2571,0.0000,0.0771,-0.0075,1.0000],[-0.0429,0.0000,-0.2571,0.0000,0.0739,-0.0086,1.0000],[-0.0375,0.0000,-0.2518,0.0000,0.0686,-0.0086,1.0000],[-0.0348,0.0000,-0.2330,0.0000,0.0589,-0.0086,1.0000],[-0.0214,-0.0027,-0.2277,0.0000,0.0568,-0.0096,1.0000],[0.0000,-0.0027,-0.1875,0.0000,0.0482,-0.0129,1.0000],[0.0000,0.0000,-0.1286,0.0000,0.0396,-0.0161,1.0000],[0.0000,0.0000,-0.0696,-0.0086,0.0268,-0.0225,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0236,-0.2611,0.5733,3.0805,0.2246,-0.1869,0.0052,-0.0056]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,0.0000,-0.2598,0.0000,0.0804,-0.0064,1.0000],[-0.0348,0.0000,-0.2571,0.0000,0.0771,-0.0075,1.0000],[-0.0429,0.0000,-0.2571,0.0000,0.0739,-0.0086,1.0000],[-0.0375,0.0000,-0.2518,0.0000,0.0686,-0.0086,1.0000],[-0.0348,0.0000,-0.2330,0.0000,0.0589,-0.0086,1.0000],[-0.0214,-0.0027,-0.2277,0.0000,0.0568,-0.0096,1.0000],[0.0000,-0.0027,-0.1875,0.0000,0.0482,-0.0129,1.0000],[0.0000,0.0000,-0.1286,0.0000,0.0396,-0.0161,1.0000],[0.0000,0.0000,-0.0696,-0.0086,0.0268,-0.0225,1.0000],[0.0589,0.0000,-0.0000,-0.0396,0.0000,-0.0493,1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0237,-0.2614,0.5698,3.0809,0.2242,-0.2030,0.0052,-0.0056]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.0348,0.0000,-0.2571,0.0000,0.0771,-0.0075,1.0000],[-0.0429,0.0000,-0.2571,0.0000,0.0739,-0.0086,1.0000],[-0.0375,0.0000,-0.2518,0.0000,0.0686,-0.0086,1.0000],[-0.0348,0.0000,-0.2330,0.0000,0.0589,-0.0086,1.0000],[-0.0214,-0.0027,-0.2277,0.0000,0.0568,-0.0096,1.0000],[0.0000,-0.0027,-0.1875,0.0000,0.0482,-0.0129,1.0000],[0.0000,0.0000,-0.1286,0.0000,0.0396,-0.0161,1.0000],[0.0000,0.0000,-0.0696,-0.0086,0.0268,-0.0225,1.0000],[0.0589,0.0000,-0.0000,-0.0396,0.0000,-0.0493,1.0000],[0.1045,0.0000,0.0723,-0.0643,0.0000,-0.0611,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0239,-0.2616,0.5663,3.0812,0.2235,-0.2192,0.0052,-0.0056]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.0429,0.0000,-0.2571,0.0000,0.0739,-0.0086,1.0000],[-0.0375,0.0000,-0.2518,0.0000,0.0686,-0.0086,1.0000],[-0.0348,0.0000,-0.2330,0.0000,0.0589,-0.0086,1.0000],[-0.0214,-0.0027,-0.2277,0.0000,0.0568,-0.0096,1.0000],[0.0000,-0.0027,-0.1875,0.0000,0.0482,-0.0129,1.0000],[0.0000,0.0000,-0.1286,0.0000,0.0396,-0.0161,1.0000],[0.0000,0.0000,-0.0696,-0.0086,0.0268,-0.0225,1.0000],[0.0589,0.0000,-0.0000,-0.0396,0.0000,-0.0493,1.0000],[0.1045,0.0000,0.0723,-0.0643,0.0000,-0.0611,-1.0000],[0.1661,0.0455,0.3107,-0.1093,-0.0021,-0.0514,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0246,-0.2619,0.5597,3.0814,0.2212,-0.2499,0.0052,-0.0056]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.0348,0.0000,-0.2330,0.0000,0.0589,-0.0086,1.0000],[-0.0214,-0.0027,-0.2277,0.0000,0.0568,-0.0096,1.0000],[0.0000,-0.0027,-0.1875,0.0000,0.0482,-0.0129,1.0000],[0.0000,0.0000,-0.1286,0.0000,0.0396,-0.0161,1.0000],[0.0000,0.0000,-0.0696,-0.0086,0.0268,-0.0225,1.0000],[0.0589,0.0000,-0.0000,-0.0396,0.0000,-0.0493,1.0000],[0.1045,0.0000,0.0723,-0.0643,0.0000,-0.0611,-1.0000],[0.1661,0.0455,0.3107,-0.1093,-0.0021,-0.0514,-1.0000],[0.1768,0.0696,0.3911,-0.1179,0.0000,-0.0461,-1.0000],[0.1821,0.0830,0.4420,-0.1221,0.0000,-0.0429,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0249,-0.2620,0.5566,3.0814,0.2199,-0.2634,0.0052,-0.0055]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[-0.0214,-0.0027,-0.2277,0.0000,0.0568,-0.0096,1.0000],[0.0000,-0.0027,-0.1875,0.0000,0.0482,-0.0129,1.0000],[0.0000,0.0000,-0.1286,0.0000,0.0396,-0.0161,1.0000],[0.0000,0.0000,-0.0696,-0.0086,0.0268,-0.0225,1.0000],[0.0589,0.0000,-0.0000,-0.0396,0.0000,-0.0493,1.0000],[0.1045,0.0000,0.0723,-0.0643,0.0000,-0.0611,-1.0000],[0.1661,0.0455,0.3107,-0.1093,-0.0021,-0.0514,-1.0000],[0.1768,0.0696,0.3911,-0.1179,0.0000,-0.0461,-1.0000],[0.1821,0.0830,0.4420,-0.1221,0.0000,-0.0429,-1.0000],[0.1875,0.0938,0.4848,-0.1232,0.0000,-0.0407,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0243,-0.2616,0.5546,3.0814,0.2192,-0.2735,0.0040,-0.0075]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,-0.0027,-0.1875,0.0000,0.0482,-0.0129,1.0000],[0.0000,0.0000,-0.1286,0.0000,0.0396,-0.0161,1.0000],[0.0000,0.0000,-0.0696,-0.0086,0.0268,-0.0225,1.0000],[0.0589,0.0000,-0.0000,-0.0396,0.0000,-0.0493,1.0000],[0.1045,0.0000,0.0723,-0.0643,0.0000,-0.0611,-1.0000],[0.1661,0.0455,0.3107,-0.1093,-0.0021,-0.0514,-1.0000],[0.1768,0.0696,0.3911,-0.1179,0.0000,-0.0461,-1.0000],[0.1821,0.0830,0.4420,-0.1221,0.0000,-0.0429,-1.0000],[0.1875,0.0938,0.4848,-0.1232,0.0000,-0.0407,-1.0000],[0.1688,0.1312,0.5116,-0.1232,0.0000,-0.0429,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0230,-0.2608,0.5534,3.0815,0.2181,-0.2821,0.0027,-0.0082]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.0000,0.0000,-0.1286,0.0000,0.0396,-0.0161,1.0000],[0.0000,0.0000,-0.0696,-0.0086,0.0268,-0.0225,1.0000],[0.0589,0.0000,-0.0000,-0.0396,0.0000,-0.0493,1.0000],[0.1045,0.0000,0.0723,-0.0643,0.0000,-0.0611,-1.0000],[0.1661,0.0455,0.3107,-0.1093,-0.0021,-0.0514,-1.0000],[0.1768,0.0696,0.3911,-0.1179,0.0000,-0.0461,-1.0000],[0.1821,0.0830,0.4420,-0.1221,0.0000,-0.0429,-1.0000],[0.1875,0.0938,0.4848,-0.1232,0.0000,-0.0407,-1.0000],[0.1688,0.1312,0.5116,-0.1232,0.0000,-0.0429,-1.0000],[0.1554,0.1714,0.5009,-0.1200,0.0000,-0.0504,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0194,-0.2599,0.5528,3.0796,0.2044,-0.3031,0.0030,-0.0077]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.1045,0.0000,0.0723,-0.0643,0.0000,-0.0611,-1.0000],[0.1661,0.0455,0.3107,-0.1093,-0.0021,-0.0514,-1.0000],[0.1768,0.0696,0.3911,-0.1179,0.0000,-0.0461,-1.0000],[0.1821,0.0830,0.4420,-0.1221,0.0000,-0.0429,-1.0000],[0.1875,0.0938,0.4848,-0.1232,0.0000,-0.0407,-1.0000],[0.1688,0.1312,0.5116,-0.1232,0.0000,-0.0429,-1.0000],[0.1554,0.1714,0.5009,-0.1200,0.0000,-0.0504,-1.0000],[0.1339,0.2116,0.4982,-0.1157,0.0000,-0.0589,-1.0000],[0.0777,0.2464,0.4580,-0.0996,0.0000,-0.0675,-1.0000],[0.0402,0.3241,0.3938,-0.0793,-0.0161,-0.0729,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0179,-0.2607,0.5536,3.0757,0.1934,-0.3055,0.0036,-0.0072]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.1661,0.0455,0.3107,-0.1093,-0.0021,-0.0514,-1.0000],[0.1768,0.0696,0.3911,-0.1179,0.0000,-0.0461,-1.0000],[0.1821,0.0830,0.4420,-0.1221,0.0000,-0.0429,-1.0000],[0.1875,0.0938,0.4848,-0.1232,0.0000,-0.0407,-1.0000],[0.1688,0.1312,0.5116,-0.1232,0.0000,-0.0429,-1.0000],[0.1554,0.1714,0.5009,-0.1200,0.0000,-0.0504,-1.0000],[0.1339,0.2116,0.4982,-0.1157,0.0000,-0.0589,-1.0000],[0.0777,0.2464,0.4580,-0.0996,0.0000,-0.0675,-1.0000],[0.0402,0.3241,0.3938,-0.0793,-0.0161,-0.0729,-1.0000],[0.0054,0.3938,0.3241,-0.0568,-0.0129,-0.0675,-1.0000]] | |
<image><image>You are a controller of the manipulation arm. Generate the next action sequence to accomplish [put the white mug on the left plate and put the yellow and white mug on the right plate] based on images and state. State: [-0.0113,-0.2623,0.5663,3.0450,0.1596,-0.3088,0.0107,-0.0116]. The 8D state is: end-effector position (x,y,z), end-effector rotation in axis-angle (rx,ry,rz) (not RPY), and gripper joint positions (qpos1,qpos2). The action is a 10-step sequence (10x7): each step is delta end-effector position (dx,dy,dz), delta end-effector rotation in axis-angle (drx,dry,drz) relative to the current pose, and a single gripper command (g). Output the 10x7 action list as [[...],[...],...] with comma-separated floats. | [[0.1875,0.0938,0.4848,-0.1232,0.0000,-0.0407,-1.0000],[0.1688,0.1312,0.5116,-0.1232,0.0000,-0.0429,-1.0000],[0.1554,0.1714,0.5009,-0.1200,0.0000,-0.0504,-1.0000],[0.1339,0.2116,0.4982,-0.1157,0.0000,-0.0589,-1.0000],[0.0777,0.2464,0.4580,-0.0996,0.0000,-0.0675,-1.0000],[0.0402,0.3241,0.3938,-0.0793,-0.0161,-0.0729,-1.0000],[0.0054,0.3938,0.3241,-0.0568,-0.0129,-0.0675,-1.0000],[0.0000,0.4661,0.2652,-0.0364,-0.0139,-0.0707,-1.0000],[0.0000,0.5384,0.2009,-0.0193,-0.0193,-0.0793,-1.0000],[0.0000,0.6107,0.1286,-0.0032,-0.0214,-0.0846,-1.0000]] |
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