id
int64 0
49
| task
stringlengths 70
94
| repeat_idx
int64 0
5
| instruction
stringlengths 21
64
| task_type
stringclasses 5
values | trial_id
stringlengths 29
29
|
|---|---|---|---|---|---|
0
|
pick_clean_then_place_in_recep-Ladle-None-DiningTable-4/trial_T20190909_164840_568811
| 2
|
Rinse off a ladle and move it to the table.
|
pick_clean_then_place_in_recep
|
trial_T20190909_164840_568811
|
1
|
pick_and_place_with_movable_recep-Spoon-Plate-DiningTable-15/trial_T20190907_112652_334388
| 1
|
Set plate with a spoon in it on the kitchen table
|
pick_and_place_with_movable_recep
|
trial_T20190907_112652_334388
|
2
|
pick_two_obj_and_place-ToiletPaper-None-Toilet-408/trial_T20190909_080302_174780
| 0
|
Put two rolls of toilet paper on the back of a toilet.
|
pick_two_obj_and_place
|
trial_T20190909_080302_174780
|
3
|
pick_and_place_simple-HandTowel-None-BathtubBasin-419/trial_T20190908_023400_293044
| 2
|
Put a towel in a tub.
|
pick_and_place_simple
|
trial_T20190908_023400_293044
|
4
|
pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124835_952557
| 2
|
Put a bottle on the back of the toilet.
|
pick_and_place_simple
|
trial_T20190909_124835_952557
|
5
|
pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-7/trial_T20190908_233333_221307
| 1
|
Put a glass with a butter knife in it and put them in a sink.
|
pick_and_place_with_movable_recep
|
trial_T20190908_233333_221307
|
6
|
look_at_obj_in_light-RemoteControl-None-FloorLamp-218/trial_T20190907_164342_432289
| 2
|
Pick up a remote and turn on a lamp
|
look_at_obj_in_light
|
trial_T20190907_164342_432289
|
7
|
pick_clean_then_place_in_recep-Spatula-None-DiningTable-4/trial_T20190909_002804_564168
| 1
|
Put a clean spatula on a wooden table.
|
pick_clean_then_place_in_recep
|
trial_T20190909_002804_564168
|
8
|
look_at_obj_in_light-Pillow-None-FloorLamp-223/trial_T20190906_201007_149137
| 0
|
hold a pillow while turning on a lamp
|
look_at_obj_in_light
|
trial_T20190906_201007_149137
|
9
|
pick_two_obj_and_place-CD-None-Drawer-304/trial_T20190907_230232_832893
| 0
|
Move two CDs to the bottom drawer of the desk.
|
pick_two_obj_and_place
|
trial_T20190907_230232_832893
|
10
|
pick_clean_then_place_in_recep-Lettuce-None-CounterTop-16/trial_T20190909_051630_092360
| 1
|
rinse off lettuce and put it down on the counter top
|
pick_clean_then_place_in_recep
|
trial_T20190909_051630_092360
|
11
|
pick_and_place_with_movable_recep-Watch-Bowl-Shelf-326/trial_T20190909_031836_927615
| 1
|
Put a bowl with the watch in it on the shelf.
|
pick_and_place_with_movable_recep
|
trial_T20190909_031836_927615
|
12
|
pick_two_obj_and_place-SoapBar-None-Toilet-412/trial_T20190908_071602_531614
| 0
|
To move two bars of soap to the back of the toilet.
|
pick_two_obj_and_place
|
trial_T20190908_071602_531614
|
13
|
pick_and_place_simple-Bowl-None-CoffeeTable-201/trial_T20190907_171639_045329
| 1
|
Put a bowl on a coffee table.
|
pick_and_place_simple
|
trial_T20190907_171639_045329
|
14
|
pick_and_place_simple-Newspaper-None-Sofa-224/trial_T20190909_111324_949106
| 0
|
Place a newspaper on a couch.
|
pick_and_place_simple
|
trial_T20190909_111324_949106
|
15
|
pick_clean_then_place_in_recep-LettuceSliced-None-CounterTop-19/trial_T20190909_005709_232606
| 2
|
put a clean slice of lettuce on to the counter
|
pick_clean_then_place_in_recep
|
trial_T20190909_005709_232606
|
16
|
look_at_obj_in_light-KeyChain-None-FloorLamp-204/trial_T20190909_030908_402835
| 1
|
Look at a set of keys under a lit tall lamp.
|
look_at_obj_in_light
|
trial_T20190909_030908_402835
|
17
|
pick_two_obj_and_place-Book-None-Desk-302/trial_T20190906_181233_363875
| 2
|
Relocate two books to a bedroom desk.
|
pick_two_obj_and_place
|
trial_T20190906_181233_363875
|
18
|
pick_and_place_simple-Mug-None-SideTable-329/trial_T20190909_032318_169393
| 1
|
Move a coffee mug to a nightstand.
|
pick_and_place_simple
|
trial_T20190909_032318_169393
|
19
|
pick_and_place_simple-SoapBar-None-Cart-401/trial_T20190907_054906_608944
| 1
|
Move the bar of soap from the shelves to the metal rack.
|
pick_and_place_simple
|
trial_T20190907_054906_608944
|
20
|
pick_two_obj_and_place-KeyChain-None-Shelf-207/trial_T20190909_131701_482365
| 2
|
Put two sets of keys on the shelf.
|
pick_two_obj_and_place
|
trial_T20190909_131701_482365
|
21
|
pick_clean_then_place_in_recep-Plate-None-CounterTop-19/trial_T20190908_212725_836398
| 0
|
Put a clean plate on the counter.
|
pick_clean_then_place_in_recep
|
trial_T20190908_212725_836398
|
22
|
pick_clean_then_place_in_recep-AppleSliced-None-DiningTable-27/trial_T20190907_151802_277016
| 3
|
Put a clean apple slice on the table.
|
pick_clean_then_place_in_recep
|
trial_T20190907_151802_277016
|
23
|
look_at_obj_in_light-RemoteControl-None-FloorLamp-213/trial_T20190907_070857_687585
| 2
|
Turn on the lamp while holding the remote.
|
look_at_obj_in_light
|
trial_T20190907_070857_687585
|
24
|
pick_and_place_simple-Book-None-Sofa-229/trial_T20190907_042856_259139
| 1
|
move the book to the couch
|
pick_and_place_simple
|
trial_T20190907_042856_259139
|
25
|
pick_and_place_with_movable_recep-Pencil-Bowl-Dresser-311/trial_T20190909_002301_857761
| 1
|
Put the bowl with pencil in it on the tv stand
|
pick_and_place_with_movable_recep
|
trial_T20190909_002301_857761
|
26
|
pick_clean_then_place_in_recep-TomatoSliced-None-Microwave-20/trial_T20190918_161337_246067
| 0
|
Place a rinsed slice of tomato in the microwave
|
pick_clean_then_place_in_recep
|
trial_T20190918_161337_246067
|
27
|
pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059
| 1
|
Place a glass cup with butter knife it on the table.
|
pick_and_place_with_movable_recep
|
trial_T20190908_233553_192059
|
28
|
pick_clean_then_place_in_recep-Lettuce-None-Fridge-19/trial_T20190908_100138_446072
| 1
|
Put washed lettuce in the refrigerator.
|
pick_clean_then_place_in_recep
|
trial_T20190908_100138_446072
|
29
|
look_at_obj_in_light-RemoteControl-None-FloorLamp-213/trial_T20190907_070857_687585
| 1
|
Examine a tv remote next to the light of a tall lamp.
|
look_at_obj_in_light
|
trial_T20190907_070857_687585
|
30
|
pick_two_obj_and_place-Book-None-Desk-302/trial_T20190906_181233_363875
| 4
|
Put the books on the desk.
|
pick_two_obj_and_place
|
trial_T20190906_181233_363875
|
31
|
pick_two_obj_and_place-Book-None-Desk-313/trial_T20190908_125930_920681
| 0
|
Move two books from the bed to the desk.
|
pick_two_obj_and_place
|
trial_T20190908_125930_920681
|
32
|
pick_and_place_with_movable_recep-Watch-Bowl-SideTable-326/trial_T20190907_183137_838565
| 2
|
Move a bowl with a watch inside from the desk to the side table.
|
pick_and_place_with_movable_recep
|
trial_T20190907_183137_838565
|
33
|
look_at_obj_in_light-KeyChain-None-FloorLamp-204/trial_T20190909_030908_402835
| 2
|
pick up keys, turn on lamp.
|
look_at_obj_in_light
|
trial_T20190909_030908_402835
|
34
|
pick_and_place_with_movable_recep-AppleSliced-Pot-Fridge-24/trial_T20190909_064046_163660
| 5
|
Put a pan with an apple in it in the fridge.
|
pick_and_place_with_movable_recep
|
trial_T20190909_064046_163660
|
35
|
pick_and_place_simple-CellPhone-None-Bed-324/trial_T20190907_233817_198528
| 1
|
Put a phone on a bed.
|
pick_and_place_simple
|
trial_T20190907_233817_198528
|
36
|
pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080903_889497
| 2
|
Put a cleaned washcloth away in a cabinet.
|
pick_clean_then_place_in_recep
|
trial_T20190907_080903_889497
|
37
|
pick_and_place_with_movable_recep-ButterKnife-Cup-DiningTable-23/trial_T20190908_233553_192059
| 0
|
Put a cup with a butter knife in it on the kitchen island.
|
pick_and_place_with_movable_recep
|
trial_T20190908_233553_192059
|
38
|
pick_and_place_with_movable_recep-Spatula-Pan-CounterTop-17/trial_T20190906_194903_710920
| 1
|
place a sauce pan with a spatula in it on the kitchen counter
|
pick_and_place_with_movable_recep
|
trial_T20190906_194903_710920
|
39
|
pick_two_obj_and_place-CreditCard-None-Dresser-311/trial_T20190907_201917_045715
| 0
|
Put two credit cards on a dresser.
|
pick_two_obj_and_place
|
trial_T20190907_201917_045715
|
40
|
pick_and_place_simple-HandTowel-None-BathtubBasin-408/trial_T20190908_053502_505422
| 2
|
Carry a towel to the bath tub
|
pick_and_place_simple
|
trial_T20190908_053502_505422
|
41
|
pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-427/trial_T20190906_234735_610018
| 1
|
Place a cleaned sponge in a bathtub.
|
pick_clean_then_place_in_recep
|
trial_T20190906_234735_610018
|
42
|
pick_clean_then_place_in_recep-Ladle-None-CounterTop-8/trial_T20190909_121908_219603
| 0
|
Place a clean ladle on a counter.
|
pick_clean_then_place_in_recep
|
trial_T20190909_121908_219603
|
43
|
pick_and_place_with_movable_recep-Spoon-Cup-SinkBasin-6/trial_T20190907_054459_336922
| 4
|
move a cup with spoon in it to the sink
|
pick_and_place_with_movable_recep
|
trial_T20190907_054459_336922
|
44
|
look_at_obj_in_light-WateringCan-None-FloorLamp-212/trial_T20190907_034437_413802
| 0
|
Turn on the lamp while holding the teapot.
|
look_at_obj_in_light
|
trial_T20190907_034437_413802
|
45
|
pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-427/trial_T20190906_234735_610018
| 2
|
Place a wet sponge inside the bathtub.
|
pick_clean_then_place_in_recep
|
trial_T20190906_234735_610018
|
46
|
pick_and_place_simple-Knife-None-SideTable-3/trial_T20190918_184236_557252
| 0
|
place a knife on the microwave oven table
|
pick_and_place_simple
|
trial_T20190918_184236_557252
|
47
|
pick_two_obj_and_place-Newspaper-None-Drawer-224/trial_T20190911_101248_326533
| 1
|
Put two newspapers away in a drawer.
|
pick_two_obj_and_place
|
trial_T20190911_101248_326533
|
48
|
pick_two_obj_and_place-KeyChain-None-Sofa-202/trial_T20190908_102840_789300
| 0
|
Put two sets of keys on the couch.
|
pick_two_obj_and_place
|
trial_T20190908_102840_789300
|
49
|
pick_clean_then_place_in_recep-Ladle-None-CounterTop-8/trial_T20190909_121908_219603
| 1
|
Put a clean ice cream ladle on the counter.
|
pick_clean_then_place_in_recep
|
trial_T20190909_121908_219603
|
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