| [ |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-tool_chest-pick_up_glue_and_put_into_drawer-val.1.totalframe023.clipframe005.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"pick up glue and put into drawer\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward up", |
| "B": "close gripper", |
| "C": "open gripper", |
| "D": "move left" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-icra-toykitchen_fixed_cam_resetfree-toysink3-03-val.1.totalframe044.clipframe003.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the brush into the silver pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move right up", |
| "B": "move backward left", |
| "C": "rotate clockwise", |
| "D": "move forward" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-pnp_sweep-100-val.1.totalframe045.clipframe021.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the pot on top of the napkin\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "close gripper", |
| "B": "move right up", |
| "C": "move left", |
| "D": "move forward left" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-pnp_sweep-37-val.0.totalframe048.clipframe026.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the blue object near silver pot.\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "open gripper", |
| "B": "move backward left", |
| "C": "move forward up", |
| "D": "stop" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen6-take_spoon_out_of_bowl_sink-val.4.totalframe035.clipframe034.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"take spoon out of bowl sink\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward up", |
| "B": "move left down", |
| "C": "open gripper", |
| "D": "stop" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-pnp_sweep-204-val.0.totalframe036.clipframe004.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"pick up yellow knife and move it right past the green cloth\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward up", |
| "B": "move forward down", |
| "C": "rotate counterclockwise", |
| "D": "stop" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen5-close_low_fridge-val.0.totalframe038.clipframe025.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"close low fridge\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left down", |
| "B": "move forward", |
| "C": "rotate counterclockwise", |
| "D": "move backward left" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol1_toykitchen6-pnp_sweep-13-val.1.totalframe036.clipframe006.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the rice ball into the pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "tilt down", |
| "B": "move right down", |
| "C": "move left up", |
| "D": "move forward right" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_folding_table-stack_blocks-00-val.0.totalframe047.clipframe040.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the red block on the yellow block\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move up", |
| "B": "move down", |
| "C": "rotate clockwise", |
| "D": "open gripper" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-many_skills-15-val.0.totalframe041.clipframe026.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the yellow knife on top of the yellow cloth\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "rotate clockwise", |
| "B": "move forward right", |
| "C": "move forward left", |
| "D": "open gripper" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen1-put_red_bottle_in_sink-val.5.totalframe028.clipframe006.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put red bottle in sink\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward down", |
| "B": "rotate counterclockwise", |
| "C": "move forward right", |
| "D": "move left" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-fold_cloth-10-val.1.totalframe032.clipframe026.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"unfold the cloth from top left to bottom right\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move up", |
| "B": "move forward down", |
| "C": "tilt down", |
| "D": "rotate clockwise" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen6-take_blueberries_off_plate_sink-val.1.totalframe035.clipframe034.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"take blueberries off plate sink\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "tilt down", |
| "B": "stop", |
| "C": "rotate clockwise", |
| "D": "move forward up" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen7-pnp_sweep-15-val.0.totalframe035.clipframe006.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the bread and place directly under microwave to the far left\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward right", |
| "B": "open gripper", |
| "C": "move left down", |
| "D": "move up" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_robot_desk-fold_cloth-01-val.1.totalframe034.clipframe003.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"fold the cloth from top left to bottom right\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "close gripper", |
| "B": "rotate clockwise", |
| "C": "move backward right", |
| "D": "move forward left" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-icra-toykitchen_fixed_cam_resetfree-toykitchen6-00-val.0.totalframe058.clipframe026.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the red cup on the right burner\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward", |
| "B": "move forward left", |
| "C": "move backward right", |
| "D": "move right" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-pnp_sweep-154-val.0.totalframe048.clipframe047.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"pick up the red fork and place it on the green cloth\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "close gripper", |
| "B": "rotate clockwise", |
| "C": "stop", |
| "D": "move left down" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_toykitchen6-many_skills-28-val.0.totalframe038.clipframe019.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the salmon meat in yellow pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward left", |
| "B": "move right up", |
| "C": "move left down", |
| "D": "tilt down" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_robot_desk-fold_cloth-52-val.0.totalframe034.clipframe010.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"fold the cloth from bottom left to top right\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left down", |
| "B": "move up", |
| "C": "move right", |
| "D": "tilt up" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol1_toykitchen6-fold_cloth-27-val.2.totalframe045.clipframe028.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"fold from the left to the right\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left down", |
| "B": "move backward up", |
| "C": "tilt down", |
| "D": "move right down" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_folding_table-drawer_pnp-00-val.0.totalframe033.clipframe016.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"open the drawer\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move right", |
| "B": "move backward", |
| "C": "move left up", |
| "D": "move forward down" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen6-pnp_sweep-17-val.0.totalframe031.clipframe013.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the silver pot over the blue cloth\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left down", |
| "B": "move backward down", |
| "C": "rotate counterclockwise", |
| "D": "move up" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-fold_cloth_pnp-09-val.0.totalframe048.clipframe024.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"hold the blue object and put on the top edge of the cloth\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "rotate counterclockwise", |
| "B": "stop", |
| "C": "move left", |
| "D": "move forward down" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-fold_cloth-02-val.0.totalframe033.clipframe023.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"unfold the cloth from right to left\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move up", |
| "B": "close gripper", |
| "C": "open gripper", |
| "D": "rotate clockwise" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen1-turn_faucet_front_to_left-val.11.totalframe021.clipframe004.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"turn faucet front to left\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward down", |
| "B": "move forward", |
| "C": "close gripper", |
| "D": "stop" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol1_toykitchen1-many_skills-01-val.1.totalframe034.clipframe008.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the silver pot to the bottom-right burner\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "rotate counterclockwise", |
| "B": "move right up", |
| "C": "move forward right", |
| "D": "move backward left" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen6-pnp_sweep-64-val.1.totalframe035.clipframe006.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the green spatula on the middle top of the two burners\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left up", |
| "B": "move backward right", |
| "C": "move backward down", |
| "D": "move right up" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-pnp_sweep-118-val.0.totalframe039.clipframe005.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the blue spoon on the blue towel\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "rotate counterclockwise", |
| "B": "move down", |
| "C": "rotate clockwise", |
| "D": "move backward up" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen2-topple_metal_pot_cardboard_fence-val.4.totalframe038.clipframe037.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"topple metal pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "rotate counterclockwise", |
| "B": "move forward down", |
| "C": "stop", |
| "D": "move right" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen2-take_sushi_out_of_pot_cardboard_fence-val.4.totalframe038.clipframe037.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"take sushi out of pot cardboard fence\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move right up", |
| "B": "stop", |
| "C": "open griper", |
| "D": "rotate counterclockwise" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen2-put_potato_in_pot_cardboard_fence-val.1.totalframe032.clipframe027.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put potato in pot cardboard fence\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move down", |
| "B": "move up", |
| "C": "close gripper", |
| "D": "open gripper" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_folding_table-fold_cloth_pnp-08-val.2.totalframe034.clipframe033.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the blue object from the bottom left of the cloth to the left of the table\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left", |
| "B": "stop", |
| "C": "move forward up", |
| "D": "close gripper" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen2-put_bowl_on_plate_cardboard_fence-val.1.totalframe031.clipframe030.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put bowl on the plate\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "stop", |
| "B": "move down", |
| "C": "move forward up", |
| "D": "open gripper" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen1-put_carrot_on_plate-val.4.totalframe028.clipframe018.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put carrot on plate\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left down", |
| "B": "move forward right", |
| "C": "move forward up", |
| "D": "stop" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-drawer_pnp-17-val.3.totalframe040.clipframe007.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"close the drawer\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward right", |
| "B": "move left down", |
| "C": "stop", |
| "D": "move forward left" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen2_room8052-put_knife_on_cutting_board-val.2.totalframe023.clipframe016.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put knife on cutting board\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move right down", |
| "B": "move close gripper", |
| "C": "move forward left", |
| "D": "move forward up" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_toykitchen7-many_skills-27-val.3.totalframe030.clipframe018.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move a conserve to the right side of the table\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward right", |
| "B": "move forward left", |
| "C": "move left up", |
| "D": "move up" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-pnp_sweep-135-val.1.totalframe048.clipframe019.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"place the banana inside the pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward right", |
| "B": "move backward left", |
| "C": "move forward", |
| "D": "move up" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-drawer_pnp-06-val.1.totalframe048.clipframe009.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"close the drawer.\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move down", |
| "B": "move backward up", |
| "C": "move right up", |
| "D": "move backward left" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_folding_table-fold_cloth_pnp-13-val.1.totalframe044.clipframe019.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"unfold the cloth from the bottom\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "rotate clockwise", |
| "B": "move up", |
| "C": "move left down", |
| "D": "move backward right" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen5-close_oven-val.0.totalframe032.clipframe031.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"close oven\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward", |
| "B": "close gripper", |
| "C": "stop", |
| "D": "rotate counterclockwise" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_toykitchen7-many_skills-01-val.1.totalframe023.clipframe006.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the yellow corn to the upper middle of the table\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move right down", |
| "B": "close gripper", |
| "C": "tilt up", |
| "D": "rotate clockwise" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen1-put_lid_on_pot_or_pan-val.3.totalframe022.clipframe010.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put lid on pot or pan\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward", |
| "B": "move up", |
| "C": "tilt up", |
| "D": "rotate clockwise" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_folding_table_white_tray-sweep_granular-04-val.2.totalframe098.clipframe018.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"sweep into pile\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left", |
| "B": "move backward", |
| "C": "move forward up", |
| "D": "move right" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-deepthought_robot_desk-drawer_pnp-28-val.0.totalframe031.clipframe005.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the eggplant to the right side of the bell pepper\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "tilt up", |
| "B": "move forward down", |
| "C": "rotate clockwise", |
| "D": "move forward left" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_laundry_machine-pnp_sweep-09-val.0.totalframe040.clipframe035.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"remove the violet cloth inside the basket then put it on the floor in the right side of the basket\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move down", |
| "B": "move forward right", |
| "C": "move right", |
| "D": "move up" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-tabletop_dark_wood-put_banana_in_colander-val.0.totalframe031.clipframe017.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put banana in colander\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "close gripper", |
| "B": "rotate counterclockwise", |
| "C": "move up", |
| "D": "move left down" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toysink3_bww-put_detergent_from_sink_into_drying_rack-val.3.totalframe018.clipframe004.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put detergent from sink into drying rack\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward right", |
| "B": "move down", |
| "C": "move backward up", |
| "D": "rotate counterclockwise" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-laundry_machine-put_clothes_in_laundry_machine-val.0.totalframe038.clipframe004.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put clothes in laundry machine\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move right down", |
| "B": "tilt up", |
| "C": "move forward left", |
| "D": "move forward" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-many_skills-01-val.1.totalframe042.clipframe030.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the blue spoon to it to bottom left side of the table\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "tilt up", |
| "B": "rotate clockwise", |
| "C": "move right", |
| "D": "open gripper" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-drawer_pnp-12-val.4.totalframe045.clipframe021.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"open the drawer\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward down", |
| "B": "tilt up", |
| "C": "move backward", |
| "D": "move left up" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-pnp_push_sweep-15-val.0.totalframe036.clipframe020.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the pot to the bottom right corner.\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "tilt down", |
| "B": "move up", |
| "C": "move right down", |
| "D": "close gripper" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_folding_table_white_tray-sweep_granular-02-val.5.totalframe098.clipframe012.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"sweep into pile\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move down", |
| "B": "move backward up", |
| "C": "close gripper", |
| "D": "move forward left" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen2-take_lid_off_pot_cardboardfence-val.1.totalframe038.clipframe004.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"take lid off pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward right", |
| "B": "move up", |
| "C": "move forward up", |
| "D": "close gripper" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_robot_desk-fold_cloth-12-val.1.totalframe039.clipframe004.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"unfold the cloth from the top right to the bottom left\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward down", |
| "B": "move backward down", |
| "C": "move up", |
| "D": "rotate counterclockwise" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-flap-toykitchen_sequential_tasks-toykitchen2-put_pear_on_plate_and_bread_in_pot_or_pan_on_stove-val.0.totalframe073.clipframe062.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put pear on plate and bread in pot or pan on stove\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left", |
| "B": "open gripper", |
| "C": "move backward right", |
| "D": "move up" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_folding_table_white_tray-sweep_granular-11-val.1.totalframe098.clipframe056.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"sweep into pile\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward up", |
| "B": "open gripper", |
| "C": "rotate counterclockwise", |
| "D": "close gripper" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-pnp_sweep-92-val.0.totalframe045.clipframe003.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move red utensil to left side of bowl\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "open gripper", |
| "B": "tilt up", |
| "C": "move down", |
| "D": "move forward left" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol1_toykitchen6-fold_cloth-12-val.0.totalframe031.clipframe017.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"unfold the cloth from bottom to top\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left up", |
| "B": "open gripper", |
| "C": "close gripper", |
| "D": "move backward" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_laundry_machine-pnp_sweep-24-val.0.totalframe036.clipframe018.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the purple cloth in the washing machine\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward down", |
| "B": "move forward up", |
| "C": "move backward", |
| "D": "rotate clockwise" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-fold_cloth-23-val.1.totalframe038.clipframe016.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"fold the cloth from top right to bottom left.\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "close gripper", |
| "B": "move up", |
| "C": "move forward down", |
| "D": "rotate clockwise" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_toykitchen2-stack_blocks-01-val.3.totalframe048.clipframe024.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"pick up the cylinder in the middle of the table and put in on the rectangle\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward down", |
| "B": "move right up", |
| "C": "move left up", |
| "D": "move forward right" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_toykitchen2-many_skills-09-val.0.totalframe030.clipframe014.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"placing the green towel on the right side of the table\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left", |
| "B": "move up", |
| "C": "rotate clockwise", |
| "D": "move right" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen1-put_big_spoon_from_basket_to_tray-val.2.totalframe028.clipframe018.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put big spoon from basket to tray\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "tilt down", |
| "B": "move backward", |
| "C": "close gripper", |
| "D": "move down" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol1_toykitchen6-fold_cloth-05-val.2.totalframe027.clipframe012.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the cloth from bottom right to top left\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left", |
| "B": "move right up", |
| "C": "move down", |
| "D": "move right" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-upenn-toysink4-move_faucet_front_to_left-val.2.totalframe023.clipframe006.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move faucet front to left\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "open gripper", |
| "B": "tilt down", |
| "C": "move right up", |
| "D": "move forward left" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen6-close_fridge-val.3.totalframe035.clipframe006.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"close fridge\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward right", |
| "B": "move backward down", |
| "C": "move right up", |
| "D": "rotate counterclockwise" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_toykitchen7-drawer_pnp-02-val.3.totalframe033.clipframe006.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"open the drawer\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left", |
| "B": "move backward up", |
| "C": "tilt down", |
| "D": "move right" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen7-pnp_sweep-36-val.1.totalframe036.clipframe004.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the bowl on the front left edge of the table\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward up", |
| "B": "rotate clockwise", |
| "C": "move forward down", |
| "D": "rotate counterclockwise" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen2-put_knife_in_pot_cardboard_fence-val.2.totalframe037.clipframe018.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put knife in pot cardboard fence\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "close gripper", |
| "B": "move up", |
| "C": "open gripper", |
| "D": "move right down" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-fold_cloth-31-val.1.totalframe035.clipframe023.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"fold cloth right to the center then from the left to the center\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward", |
| "B": "open gripper", |
| "C": "move right", |
| "D": "tilt up" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen1-put_eggplant_on_plate-val.4.totalframe023.clipframe005.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put eggplant on plate\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "rotate counterclockwise", |
| "B": "move right up", |
| "C": "move forward", |
| "D": "move down" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_folding_table_white_tray-sweep_granular-08-val.0.totalframe098.clipframe052.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"sweep into pile\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "open gripper", |
| "B": "stop", |
| "C": "move forward left", |
| "D": "move backward down" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-tabletop_dark_wood-pnp_sweep-01-val.2.totalframe039.clipframe026.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move yellow-handled knife left and away from the edge of the table.\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move down", |
| "B": "move backward right", |
| "C": "open gripper", |
| "D": "move forward up" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen1-open_microwave-val.4.totalframe038.clipframe034.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"open the microwave completely\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "close gripper", |
| "B": "move right down", |
| "C": "move backward left", |
| "D": "move forward" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen6-put_cup_on_plate-val.0.totalframe032.clipframe017.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put cup on plate\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move right up", |
| "B": "move forward down", |
| "C": "move backward right", |
| "D": "tilt up" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-upenn-toykitchen3-pick_up_pot_50-val.15.totalframe023.clipframe004.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"pick up pot\". The robot in the video is currently performing one action out of many to complete this instruction. You are observing a top-down view. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move down", |
| "B": "move backward left", |
| "C": "move backward up", |
| "D": "move left down" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen1-take_broccoli_out_of_pan_cardboardfence-val.5.totalframe038.clipframe027.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"take broccoli out of pan\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left down", |
| "B": "move right", |
| "C": "close gripper", |
| "D": "move backward" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen6-pnp_sweep-41-val.2.totalframe027.clipframe022.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move blue spoon to the top left of silver pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move right down", |
| "B": "open gripper", |
| "C": "move up", |
| "D": "move left" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-pnp_sweep-187-val.1.totalframe027.clipframe003.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"pick orange toy from blue cloth and keep it on the vessel\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward down", |
| "B": "move left up", |
| "C": "close gripper", |
| "D": "move backward left" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol1_toykitchen6-pnp_sweep-02-val.1.totalframe034.clipframe003.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the silver pot to the lower right side of the stove\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward down", |
| "B": "move right down", |
| "C": "move forward left", |
| "D": "close gripper" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen7-pnp_sweep_target_fixed-00-val.1.totalframe039.clipframe003.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"place the mushroom into the pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward left", |
| "B": "tilt up", |
| "C": "move backward left", |
| "D": "move right down" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen2_room8052-put_can_in_pot-val.2.totalframe028.clipframe017.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put can in pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "tilt down", |
| "B": "move up", |
| "C": "move right down", |
| "D": "move down" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen2_room8052-put_potato_on_plate-val.6.totalframe028.clipframe018.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put potato on plate\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward", |
| "B": "move backward up", |
| "C": "move forward down", |
| "D": "move right" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen1-put_broccoli_in_pot_cardboardfence-val.3.totalframe038.clipframe003.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put broccoli in pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "tilt up", |
| "B": "rotate clockwise", |
| "C": "move forward left", |
| "D": "move up" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-pnp_sweep-72-val.0.totalframe038.clipframe037.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the banana to the left of the pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "stop", |
| "B": "move backward left", |
| "C": "move forward up", |
| "D": "move left" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen2-set_table-29-val.0.totalframe048.clipframe047.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"pick up the spatula and put it down left side of pot\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward up", |
| "B": "move right down", |
| "C": "move forward right", |
| "D": "stop" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol1_toykitchen1-many_skills-12-val.0.totalframe033.clipframe006.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the silver pot from the lower right burner to the lower left burner\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "close gripper", |
| "B": "move up left", |
| "C": "move forward", |
| "D": "move backward right" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-flap-toykitchen_sequential_tasks-toykitchen2-put_cube_on_plate_and_smalltomato_in_pot_or_pan_in_sink-val.0.totalframe073.clipframe013.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put cube on plate and smalltomato in pot or pan in sink\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move left", |
| "B": "move right down", |
| "C": "move right", |
| "D": "move forward right" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen7-pnp_sweep_target_fixed-00-val.6.totalframe027.clipframe026.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move spoon to left of pot.\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move down", |
| "B": "move forward", |
| "C": "move backward left", |
| "D": "stop" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-fold_cloth-17-val.0.totalframe037.clipframe005.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"fold the cloth from the bottom to the top on the table\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move right up", |
| "B": "move backward left", |
| "C": "move down", |
| "D": "move forward" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-deepthought_toykitchen1-close_microwave-00-val.0.totalframe026.clipframe005.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"close microwave\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move right up", |
| "B": "move left up", |
| "C": "move down", |
| "D": "close gripper" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen2-upright_hot_sauce_bottle_cardboard_fence-val.2.totalframe038.clipframe014.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"upright hot sauce bottle\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward", |
| "B": "move backward", |
| "C": "move up", |
| "D": "rotate counterclockwise" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen6-open_oven-val.2.totalframe038.clipframe019.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"open oven\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward up", |
| "B": "tilt down", |
| "C": "move left up", |
| "D": "move forward down" |
| }, |
| "answer": "A" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v1-berkeley-toykitchen1-turn_lever_vertical_to_front_distractors-val.5.totalframe023.clipframe016.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"turn lever vertical to front\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "close gripper", |
| "B": "rotate clockwise", |
| "C": "move forward down", |
| "D": "move backward" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_tabletop_dark_wood-drawer_pnp-22-val.2.totalframe028.clipframe006.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the red bell pepper on top of the drawer\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "close gripper", |
| "B": "move forward up", |
| "C": "move forward right", |
| "D": "move left down" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-rss-toykitchen6-pnp_sweep-03-val.0.totalframe028.clipframe014.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"put the pot above the napkin.\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward down", |
| "B": "open gripper", |
| "C": "move right up", |
| "D": "rotate counterclockwise" |
| }, |
| "answer": "C" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_robot_desk-fold_cloth-22-val.1.totalframe047.clipframe036.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"fold the cloth from top left to bottom right centre\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "rotate counterclockwise", |
| "B": "move down", |
| "C": "move left up", |
| "D": "move backward left" |
| }, |
| "answer": "B" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-icra-toykitchen_fixed_cam_resetfree-tabletop_dark_wood-17-val.0.totalframe033.clipframe011.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"move the yellow box in to the yellow pot.\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move forward", |
| "B": "move backward down", |
| "C": "tilt down", |
| "D": "move up" |
| }, |
| "answer": "D" |
| } |
| }, |
| { |
| "video": "clips/numpy_256-bridge_data_v2-datacol2_toykitchen7-many_skills-17-val.1.totalframe058.clipframe004.mp4", |
| "qa_pairs": { |
| "question": "The robot gripper is instructed to \"change the position of the yellow thing from vertical to horizontal\". The robot in the video is currently performing one action out of many to complete this instruction. The camera is mounted on the robot. Given what the robot has done in the video, what is the most plausible next immediate action from the choices below?", |
| "index2ans": { |
| "A": "move backward up", |
| "B": "close gripper", |
| "C": "tilt up", |
| "D": "move forward down" |
| }, |
| "answer": "D" |
| } |
| } |
| ] |
