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internVL_dataset_execution_thinking.jsonl
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internVL_dataset_execution_vanilla.jsonl
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internVL_dataset_planning_thinking.jsonl
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internVL_dataset_planning_vanilla.jsonl
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metadata_execution.jsonl
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{"taskvar": "real_put_fruit_in_box+1", "task_instruction": "put the lemon in the box", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruit_in_box+1", "task_instruction": "put the lemon in the box", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the strawberry in the pink plate", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["
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{"taskvar": "real_stack_cup+0", "task_instruction": "stack a yellow cup onto a pink cup onto a navy cup", "episode_id": 0, "images": ["
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{"taskvar": "real_stack_cups+0", "task_instruction": "stack cyan cup onto yellow cup onto black cup", "episode_id": 0, "images": ["
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{"taskvar": "real_stack_cups+0", "task_instruction": "stack cyan cup onto yellow cup onto black cup", "episode_id": 0, "images": ["
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{"taskvar": "real_stack_cups+0", "task_instruction": "stack cyan cup onto yellow cup onto black cup", "episode_id": 0, "images": ["
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{"taskvar": "real_stack_cups+0", "task_instruction": "stack red cup onto yellow cup onto black cup", "episode_id": 0, "images": ["
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{"taskvar": "real_stack_cups+0", "task_instruction": "stack cyan cup onto black cup onto yellow cup", "episode_id": 0, "images": ["
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{"taskvar": "real_stack_cups+0", "task_instruction": "stack cyan cup onto yellow cup onto black cup", "episode_id": 0, "images": ["
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{"taskvar": "real_hungry+0", "task_instruction": "i'm hungry, give me some food", "episode_id": 0, "images": ["
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{"taskvar": "real_pick_item_in_box+0", "task_instruction": "put the rubik's cube in the box", "episode_id": 1, "images": ["
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{"taskvar": "real_pick_item_in_box+0", "task_instruction": "store the food in the container", "episode_id": 2, "images": ["
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{"taskvar": "real_hungry+0", "task_instruction": "put the food in the box", "episode_id": 0, "images": ["
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{"taskvar": "real_put_fruit_in_box+1", "task_instruction": "put the lemon in the box", "episode_id": 0, "images": ["records/real_put_fruit_in_box+4/0/1_img_viewpoint_0.png", "records/real_put_fruit_in_box+4/0/1_img_viewpoint_1.png", "records/real_put_fruit_in_box+4/0/1_img_viewpoint_2.png", "records/real_put_fruit_in_box+4/0/6_img_viewpoint_0.png", "records/real_put_fruit_in_box+4/0/6_img_viewpoint_1.png", "records/real_put_fruit_in_box+4/0/6_img_viewpoint_2.png"], "failure_mode": "no_grasp", "detailed_subtask_name": "grasp lemon", "failure_reason": "", "plan": ["grasp lemon", "move grasped object to box", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
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{"taskvar": "real_put_fruit_in_box+1", "task_instruction": "put the lemon in the box", "episode_id": 0, "images": ["records/real_put_fruit_in_box+4/0/7_img_viewpoint_0.png", "records/real_put_fruit_in_box+4/0/7_img_viewpoint_1.png", "records/real_put_fruit_in_box+4/0/7_img_viewpoint_2.png", "records/real_put_fruit_in_box+4/0/8_img_viewpoint_0.png", "records/real_put_fruit_in_box+4/0/8_img_viewpoint_1.png", "records/real_put_fruit_in_box+4/0/8_img_viewpoint_2.png"], "failure_mode": "no_grasp", "detailed_subtask_name": "grasp lemon", "failure_reason": "", "plan": ["grasp lemon", "move grasped object to box", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["records/real_put_fruits_in_plate+0/0/0_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/0_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/0_img_viewpoint_2.png", "records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/2_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/2_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp grapes", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/2_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/2_img_viewpoint_2.png", "records/real_put_fruits_in_plate+0/0/4_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/4_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/4_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "move grasped object to blue plate", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["records/real_put_fruits_in_plate+0/0/6_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/6_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/6_img_viewpoint_2.png", "records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp banana", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the strawberry in the pink plate", "episode_id": 0, "images": ["records/real_put_fruits_in_plate+0/0/6_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/6_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/6_img_viewpoint_2.png", "records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png"], "failure_mode": "wrong_object", "detailed_subtask_name": "grasp strawberry", "failure_reason": "wrong object: banana", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp strawberry", "move grasped object to pink plate", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png", "records/real_put_fruits_in_plate+0/0/10_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/10_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/10_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "move grasped object to pink plate", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png", "records/real_put_fruits_in_plate+0/0/11_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/11_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/11_img_viewpoint_2.png"], "failure_mode": "translation_target", "detailed_subtask_name": "move grasped object to pink plate", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["records/real_put_fruits_in_plate+0/0/9_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/9_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/9_img_viewpoint_2.png", "records/real_put_fruits_in_plate+0/0/12_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/12_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/12_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "move grasped object to pink plate", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["records/real_put_fruits_in_plate+0/0/14_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/14_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/14_img_viewpoint_2.png", "records/real_put_fruits_in_plate+0/0/15_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/15_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/15_img_viewpoint_2.png"], "failure_mode": "wrong_target", "detailed_subtask_name": "move grasped object to pink plate", "failure_reason": "wrong target: blue plate", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["records/real_put_fruits_in_plate+0/0/14_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/14_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/14_img_viewpoint_2.png", "records/real_put_fruits_in_plate+0/0/16_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/16_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/16_img_viewpoint_2.png"], "failure_mode": "translation_target", "detailed_subtask_name": "move grasped object to pink plate", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
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{"taskvar": "real_put_fruits_in_plate+0", "task_instruction": "put the grapes in the blue plate, then put the banana in the pink plate", "episode_id": 0, "images": ["records/real_put_fruits_in_plate+0/0/14_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/14_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/14_img_viewpoint_2.png", "records/real_put_fruits_in_plate+0/0/17_img_viewpoint_0.png", "records/real_put_fruits_in_plate+0/0/17_img_viewpoint_1.png", "records/real_put_fruits_in_plate+0/0/17_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "move grasped object to pink plate", "failure_reason": "", "plan": ["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/0_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/0_img_viewpoint_2.png", "records/real_put_item_in_drawer+0/0/2_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/2_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/2_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp top part of the drawer", "failure_reason": "", "plan": ["grasp top part of the drawer", "move grasped object out", "release", "grasp frog toy", "move grasped object to top part of the drawer", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/0_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/0_img_viewpoint_2.png", "records/real_put_item_in_drawer+0/0/1_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/1_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/1_img_viewpoint_2.png"], "failure_mode": "no_grasp", "detailed_subtask_name": "grasp top part of the drawer", "failure_reason": "", "plan": ["grasp top part of the drawer", "move grasped object out", "release", "grasp frog toy", "move grasped object to top part of the drawer", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["records/real_put_item_in_drawer+0/0/1_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/1_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/1_img_viewpoint_2.png", "records/real_put_item_in_drawer+0/0/3_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/3_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/3_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp top part of the drawer", "failure_reason": "", "plan": ["grasp top part of the drawer", "move grasped object out", "release", "grasp frog toy", "move grasped object to top part of the drawer", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["records/real_put_item_in_drawer+0/0/2_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/2_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/2_img_viewpoint_2.png", "records/real_put_item_in_drawer+0/0/4_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/4_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/4_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "move grasped object out", "failure_reason": "", "plan": ["grasp top part of the drawer", "move grasped object out", "release", "grasp frog toy", "move grasped object to top part of the drawer", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["records/real_put_item_in_drawer+0/0/3_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/3_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/3_img_viewpoint_2.png", "records/real_put_item_in_drawer+0/0/4_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/4_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/4_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "move grasped object out", "failure_reason": "", "plan": ["grasp top part of the drawer", "move grasped object out", "release", "grasp frog toy", "move grasped object to top part of the drawer", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["records/real_put_item_in_drawer+0/0/4_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/4_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/4_img_viewpoint_2.png", "records/real_put_item_in_drawer+0/0/7_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/7_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/7_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp frog toy", "failure_reason": "", "plan": ["grasp top part of the drawer", "move grasped object out", "release", "grasp frog toy", "move grasped object to top part of the drawer", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
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| 19 |
+
{"taskvar": "real_put_item_in_drawer+0", "task_instruction": "put the frog toy in the top part of the drawer", "episode_id": 0, "images": ["records/real_put_item_in_drawer+0/0/7_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/7_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/7_img_viewpoint_2.png", "records/real_put_item_in_drawer+0/0/8_img_viewpoint_0.png", "records/real_put_item_in_drawer+0/0/8_img_viewpoint_1.png", "records/real_put_item_in_drawer+0/0/8_img_viewpoint_2.png"], "failure_mode": "translation_target", "detailed_subtask_name": "move grasped object to drawer", "failure_reason": "", "plan": ["grasp top part of the drawer", "move grasped object out", "release", "grasp frog toy", "move grasped object to top part of the drawer", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
|
| 20 |
+
{"taskvar": "real_stack_cup+0", "task_instruction": "stack a yellow cup onto a pink cup onto a navy cup", "episode_id": 0, "images": ["records/real_stack_cup+0/episode0/0_img_viewpoint_0.png", "records/real_stack_cup+0/episode0/0_img_viewpoint_1.png", "records/real_stack_cup+0/episode0/0_img_viewpoint_2.png", "records/real_stack_cup+0/episode0/2_img_viewpoint_0.png", "records/real_stack_cup+0/episode0/2_img_viewpoint_1.png", "records/real_stack_cup+0/episode0/2_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp yellow cup", "failure_reason": "", "plan": ["grasp yellow cup", "move grasped object to pink cup", "release", "grasp pink cup", "move grasped object to navy cup", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
|
| 21 |
+
{"taskvar": "real_stack_cups+0", "task_instruction": "stack cyan cup onto yellow cup onto black cup", "episode_id": 0, "images": ["records/real_stack_cups+0/episode0/0_img_viewpoint_0.png", "records/real_stack_cups+0/episode0/0_img_viewpoint_1.png", "records/real_stack_cups+0/episode0/0_img_viewpoint_2.png", "records/real_stack_cups+0/episode0/2_img_viewpoint_0.png", "records/real_stack_cups+0/episode0/2_img_viewpoint_1.png", "records/real_stack_cups+0/episode0/2_img_viewpoint_2.png"], "failure_mode": "no_grasp", "detailed_subtask_name": "grasp cyan cup", "failure_reason": "", "plan": ["grasp cyan cup", "move grasped object to yellow cup", "release", "grasp yellow cup", "move grasped object to black cup", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
|
| 22 |
+
{"taskvar": "real_stack_cups+0", "task_instruction": "stack cyan cup onto yellow cup onto black cup", "episode_id": 0, "images": ["records/real_stack_cups+0/0/13_img_viewpoint_0.png", "records/real_stack_cups+0/0/13_img_viewpoint_1.png", "records/real_stack_cups+0/0/13_img_viewpoint_2.png", "records/real_stack_cups+0/0/14_img_viewpoint_0.png", "records/real_stack_cups+0/0/14_img_viewpoint_1.png", "records/real_stack_cups+0/0/14_img_viewpoint_2.png"], "failure_mode": "translation_object", "detailed_subtask_name": "grasp yellow cup", "failure_reason": "", "plan": ["grasp cyan cup", "move grasped object to yellow cup", "release", "grasp yellow cup", "move grasped object to black cup", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
|
| 23 |
+
{"taskvar": "real_stack_cups+0", "task_instruction": "stack cyan cup onto yellow cup onto black cup", "episode_id": 0, "images": ["records/real_stack_cups+0/0/12_img_viewpoint_0.png", "records/real_stack_cups+0/0/12_img_viewpoint_1.png", "records/real_stack_cups+0/0/12_img_viewpoint_2.png", "records/real_stack_cups+0/0/15_img_viewpoint_0.png", "records/real_stack_cups+0/0/15_img_viewpoint_1.png", "records/real_stack_cups+0/0/15_img_viewpoint_2.png"], "failure_mode": "translation_object", "detailed_subtask_name": "grasp yellow cup", "failure_reason": "", "plan": ["grasp cyan cup", "move grasped object to yellow cup", "release", "grasp yellow cup", "move grasped object to black cup", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
|
| 24 |
+
{"taskvar": "real_stack_cups+0", "task_instruction": "stack red cup onto yellow cup onto black cup", "episode_id": 0, "images": ["records/real_stack_cups+0/0/18_img_viewpoint_0.png", "records/real_stack_cups+0/0/18_img_viewpoint_1.png", "records/real_stack_cups+0/0/18_img_viewpoint_2.png", "records/real_stack_cups+0/0/19_img_viewpoint_0.png", "records/real_stack_cups+0/0/19_img_viewpoint_1.png", "records/real_stack_cups+0/0/19_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "move grasped object to black cup", "failure_reason": "", "plan": ["grasp red cup", "move grasped object to yellow cup", "release", "grasp yellow cup", "move grasped object to black cup", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
|
| 25 |
+
{"taskvar": "real_stack_cups+0", "task_instruction": "stack cyan cup onto black cup onto yellow cup", "episode_id": 0, "images": ["records/real_stack_cups+0/0/2_img_viewpoint_0.png", "records/real_stack_cups+0/0/2_img_viewpoint_1.png", "records/real_stack_cups+0/0/2_img_viewpoint_2.png", "records/real_stack_cups+0/0/4_img_viewpoint_0.png", "records/real_stack_cups+0/0/4_img_viewpoint_1.png", "records/real_stack_cups+0/0/4_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "move grasped object to black cup", "failure_reason": "", "plan": ["grasp cyan cup", "move grasped object to black cup", "release", "grasp black cup", "move grasped object to yellow cup", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
|
| 26 |
+
{"taskvar": "real_stack_cups+0", "task_instruction": "stack cyan cup onto yellow cup onto black cup", "episode_id": 0, "images": ["records/real_stack_cups+0/0/0_img_viewpoint_0.png", "records/real_stack_cups+0/0/0_img_viewpoint_1.png", "records/real_stack_cups+0/0/0_img_viewpoint_2.png", "records/real_stack_cups+0/0/2_img_viewpoint_0.png", "records/real_stack_cups+0/0/2_img_viewpoint_1.png", "records/real_stack_cups+0/0/2_img_viewpoint_2.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp cyan cup", "failure_reason": "", "plan": ["grasp cyan cup", "move grasped object to yellow cup", "release", "grasp yellow cup", "move grasped object to black cup", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
|
| 27 |
+
{"taskvar": "real_hungry+0", "task_instruction": "i'm hungry, give me some food", "episode_id": 0, "images": ["records/real_hungry+0/episode0/0_img_viewpoint_left.png", "records/real_hungry+0/episode0/0_img_viewpoint_right.png", "records/real_hungry+0/episode0/0_img_viewpoint_wrist.png", "records/real_hungry+0/episode0/1_img_viewpoint_left.png", "records/real_hungry+0/episode0/1_img_viewpoint_right.png", "records/real_hungry+0/episode0/1_img_viewpoint_wrist.png"], "failure_mode": "wrong_object", "detailed_subtask_name": "grasp squash", "failure_reason": "wrong object: screwdriver", "plan": ["grasp squash"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
|
| 28 |
+
{"taskvar": "real_pick_item_in_box+0", "task_instruction": "put the rubik's cube in the box", "episode_id": 1, "images": ["records/real_pick_item_in_box+0/episode1/2_img_viewpoint_left.png", "records/real_pick_item_in_box+0/episode1/2_img_viewpoint_right.png", "records/real_pick_item_in_box+0/episode1/2_img_viewpoint_wrist.png", "records/real_pick_item_in_box+0/episode1/5_img_viewpoint_left.png", "records/real_pick_item_in_box+0/episode1/5_img_viewpoint_right.png", "records/real_pick_item_in_box+0/episode1/5_img_viewpoint_wrist.png"], "failure_mode": "wrong_target", "detailed_subtask_name": "move grasped object to box", "failure_reason": "wrong target: table", "plan": ["grasp rubik's cube", "move grasped object to box", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
|
| 29 |
+
{"taskvar": "real_pick_item_in_box+0", "task_instruction": "store the food in the container", "episode_id": 2, "images": ["records/real_pick_item_in_box+0/episode2/0_img_viewpoint_left.png", "records/real_pick_item_in_box+0/episode2/0_img_viewpoint_right.png", "records/real_pick_item_in_box+0/episode2/0_img_viewpoint_wrist.png", "records/real_pick_item_in_box+0/episode2/2_img_viewpoint_left.png", "records/real_pick_item_in_box+0/episode2/2_img_viewpoint_right.png", "records/real_pick_item_in_box+0/episode2/2_img_viewpoint_wrist.png"], "failure_mode": "ground_truth", "detailed_subtask_name": "grasp croissant", "failure_reason": "", "plan": ["grasp croissant", "move grasped object to box", "release"], "reward": 1, "execution_reward": 1, "planning_reward": 1}
|
| 30 |
+
{"taskvar": "real_hungry+0", "task_instruction": "put the food in the box", "episode_id": 0, "images": ["records/real_hungry+0/episode0/0_img_viewpoint_left.png", "records/real_hungry+0/episode0/0_img_viewpoint_right.png", "records/real_hungry+0/episode0/0_img_viewpoint_wrist.png", "records/real_hungry+0/episode0/1_img_viewpoint_left.png", "records/real_hungry+0/episode0/1_img_viewpoint_right.png", "records/real_hungry+0/episode0/1_img_viewpoint_wrist.png"], "failure_mode": "no_grasp", "detailed_subtask_name": "grasp squash", "failure_reason": "", "plan": ["grasp squash", "move grasped object to box", "release"], "reward": 0, "execution_reward": 0, "planning_reward": 1}
|
metadata_planning.jsonl
CHANGED
|
@@ -1,30 +1,30 @@
|
|
| 1 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the grapes in the blue plate, then put the banana in the pink plate", "plan":["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "images":["
|
| 2 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the grapes in the blue plate, then put the banana in the pink plate", "plan":["move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "images":["
|
| 3 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"remove the screwdriver out of the middle drawer and place it on the table", "plan":["grasp handle of the middle drawer", "move grasped object out", "release", "grasp screwdriver", "move grasped object to table", "release"], "images":["
|
| 4 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"remove the screwdriver out of the middle drawer and place it on the table", "plan":["grasp screwdriver", "move grasped object to table", "release"], "images":["
|
| 5 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"remove the apple out of the bottom drawer and place it on top of the drawer shelf, then close the drawer", "plan":["grasp handle of the middle drawer", "move grasped object out", "release", "grasp apple", "move grasped object to top of the drawer shelf", "release", "grasp handle of the middle drawer", "move grasped object to drawer closed position", "release"], "images":["
|
| 6 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"remove the apple out of the bottom drawer and place it on top of the drawer shelf, then close the drawer", "plan":["grasp handle of the middle drawer", "move grasped object out", "release", "grasp apple", "move grasped object to top of the drawer shelf", "release", "grasp handle of the middle drawer", "move grasped object to drawer open position", "release"], "images":["
|
| 7 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"open all the drawers", "plan":["grasp handle of the top drawer", "move grasped object out", "release", "grasp handle of the middle drawer", "move grasped object out", "release", "grasp handle of the bottom drawer", "move grasped object out", "release"], "images":["
|
| 8 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"open all the drawers", "plan":["grasp handle of the top drawer", "move grasped object out", "release", "grasp handle of the bottom drawer", "move grasped object out", "release"], "images":["
|
| 9 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"close all the drawers that appear open", "plan":["grasp handle of the top drawer", "move grasped object to drawer closed position", "release", "grasp handle of the middle drawer", "move grasped object to drawer closed position", "release"], "images":["
|
| 10 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"close all the drawers that appear open", "plan":["grasp handle of the top drawer", "move grasped object to drawer closed position", "release", "grasp handle of the bottom drawer", "move grasped object to drawer closed position", "release"], "images":["
|
| 11 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"stack the can onto the pink cube, then stack the frog toy on top of this stack, then unstack everything and put them back on the table", "plan":["grasp can", "move grasped object to top of pink cube", "release", "grasp frog toy", "move grasped object to top of can", "release", "grasp frog toy", "move grasped object to table", "release", "grasp can", "move grasped object to table", "release"], "images":["
|
| 12 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"stack the can onto the pink cube, then stack the frog toy on top of this stack, then unstack everything and put them back on the table", "plan":["grasp can", "move grasped object to top of pink cube", "release", "grasp frog toy", "move grasped object to top of can", "release", "grasp frog toy", "move grasped object to table", "release", "grasp can", "move grasped object to top of frog toy", "release"], "images":["
|
| 13 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"stack the can onto the pink cube, then stack the frog toy on top of this stack, then unstack the frog toy and put it next to the stack but not onto", "plan":["grasp can", "move grasped object to top of pink cube", "release", "grasp frog toy", "move grasped object to top of can", "release", "grasp frog toy", "move grasped object next to but not onto the stack", "release"], "images":["
|
| 14 |
-
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"stack the can onto the pink cube, then stack the frog toy on top of this stack, then unstack the frog toy and put it next to the stack but not onto", "plan":["grasp can", "move grasped object to top of pink cube", "release", "grasp frog toy", "move grasped object next to but not onto the stack", "release", "grasp frog toy", "move grasped object to top of can", "release"], "images":["
|
| 15 |
-
{"taskvar":"real_stack_cup+0", "episode_id":0, "task_instruction":"stack a yellow cup onto a pink cup onto a navy cup", "plan":["grasp yellow cup", "move grasped object to pink cup", "release", "grasp pink cup", "move grasped object to navy cup", "release"], "images":["
|
| 16 |
-
{"taskvar":"real_stack_cup+0", "episode_id":0, "task_instruction":"stack a yellow cup onto a pink cup onto a navy cup", "plan":["grasp yellow cup", "move grasped object to pink cup", "release", "grasp pink cup", "release"], "images":["
|
| 17 |
-
{"taskvar":"real_stack_cups+0", "episode_id":0, "task_instruction":"stack red cup onto yellow cup onto black cup", "plan":["grasp red cup", "move grasped object to yellow cup", "release", "grasp yellow cup", "move grasped object to black cup", "release"], "images":["
|
| 18 |
-
{"taskvar":"real_stack_cups+0", "episode_id":0, "task_instruction":"stack yellow cup onto red cup onto black cup", "plan":["grasp red cup", "move grasped object to yellow cup", "release", "grasp yellow cup", "move grasped object to black cup", "release"], "images":["
|
| 19 |
-
{"taskvar":"real_pick_item_in_box+0", "episode_id":2, "task_instruction":"store the food in the container", "plan":["grasp croissant", "move grasped object to box", "release"], "images":["
|
| 20 |
-
{"taskvar":"real_pick_item_in_box+0", "episode_id":2, "task_instruction":"place the food on the table", "plan":["grasp croissant", "move grasped object to box", "release"], "images":["
|
| 21 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the banana, the grapes, the strawberry, yellow peach, yellow lemon, green pear in the blue plate", "plan":["grasp banana", "move grasped object to blue plate", "release", "grasp grapes", "move grasped object to blue plate", "release", "grasp strawberry", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow lemon", "move grasped object to blue plate", "release", "grasp green pear", "move grasped object to blue plate", "release"], "images":["
|
| 22 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the banana, the grapes, the strawberry, yellow peach, yellow lemon, green pear in the blue plate", "plan":["grasp banana", "move grasped object to blue plate", "release", "grasp grapes", "move grasped object to blue plate", "release", "grasp raspberry", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow lemon", "move grasped object to blue plate", "release", "grasp green pear", "move grasped object to blue plate", "release"], "images":["
|
| 23 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the banana, the grapes in the pink plate, then the strawberry, yellow peach, yellow lemon, green pear in the blue plate", "plan":["grasp banana", "move grasped object to pink plate", "release", "grasp grapes", "move grasped object to pink plate", "release", "grasp raspberry", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow lemon", "move grasped object to blue plate", "release", "grasp green pear", "move grasped object to blue plate", "release"], "images":["
|
| 24 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the banana, the grapes in the pink plate, then the strawberry, yellow peach, yellow lemon, green pear in the blue plate", "plan":["grasp banana", "move grasped object to pink plate", "release", "grasp grapes", "move grasped object to pink plate", "release", "grasp raspberry", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow lemon", "move grasped object to blue plate", "release", "grasp green pear", "move grasped object to pink plate", "release"], "images":["
|
| 25 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the yellow peach in the blue plate, then to the pink plate, then again to the blue plate", "plan":["grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to pink plate", "release", "grasp yellow peach", "move grasped object to blue plate", "release"], "images":["
|
| 26 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the yellow peach in the blue plate, then to the pink plate, then again to the blue plate", "plan":["grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to pink plate", "release"], "images":["
|
| 27 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"stack the blue plate on top of the pink plate, then put the strawberry in the blue plate", "plan":["grasp blue plate", "move grasped object to pink plate", "release", "grasp strawberry", "move grasped object to blue plate", "release"], "images":["
|
| 28 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"stack the blue plate on top of the pink plate, then put the strawberry in the blue plate", "plan":["grasp strawberry", "move grasped object to blue plate", "release", "grasp blue plate", "move grasped object to pink plate", "release"], "images":["
|
| 29 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"stack the blue plate on top of the pink plate, then put the strawberry, and yellow lemon and banana in the blue plate, then move back the banana to the table", "plan": ["grasp blue plate", "move grasped object to pink plate", "release", "grasp strawberry", "move grasped object to blue plate", "release", "grasp yellow lemon", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to blue plate", "release", "grasp banana", "move grasped object out", "move grasped object to table", "release"], "images":["
|
| 30 |
-
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"stack the blue plate on top of the pink plate, then put the strawberry, and yellow lemon and banana in the blue plate, then move back the banana to the table", "plan": ["grasp blue plate", "move grasped object to pink plate", "release", "grasp strawberry", "move grasped object to blue plate", "release", "grasp yellow lemon", "release", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to blue plate", "release", "grasp banana", "move grasped object out", "move grasped object to table", "release"], "images":["
|
|
|
|
| 1 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the grapes in the blue plate, then put the banana in the pink plate", "plan":["grasp grapes", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "images":["records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 2 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the grapes in the blue plate, then put the banana in the pink plate", "plan":["move grasped object to blue plate", "release", "grasp banana", "move grasped object to pink plate", "release"], "images":["records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"missing subtask: grasp grapes.", "detailed_subtask_name":null, "failure_mode":"missing subtask"}
|
| 3 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"remove the screwdriver out of the middle drawer and place it on the table", "plan":["grasp handle of the middle drawer", "move grasped object out", "release", "grasp screwdriver", "move grasped object to table", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 4 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"remove the screwdriver out of the middle drawer and place it on the table", "plan":["grasp screwdriver", "move grasped object to table", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the robot never opened the middle drawer", "detailed_subtask_name":null, "failure_mode":"missing subtask"}
|
| 5 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"remove the apple out of the bottom drawer and place it on top of the drawer shelf, then close the drawer", "plan":["grasp handle of the middle drawer", "move grasped object out", "release", "grasp apple", "move grasped object to top of the drawer shelf", "release", "grasp handle of the middle drawer", "move grasped object to drawer closed position", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 6 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"remove the apple out of the bottom drawer and place it on top of the drawer shelf, then close the drawer", "plan":["grasp handle of the middle drawer", "move grasped object out", "release", "grasp apple", "move grasped object to top of the drawer shelf", "release", "grasp handle of the middle drawer", "move grasped object to drawer open position", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"at the end, the middle drawer is moved to the open position instead of the closed position.", "detailed_subtask_name":null, "failure_mode":"wrong object state or placement"}
|
| 7 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"open all the drawers", "plan":["grasp handle of the top drawer", "move grasped object out", "release", "grasp handle of the middle drawer", "move grasped object out", "release", "grasp handle of the bottom drawer", "move grasped object out", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 8 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"open all the drawers", "plan":["grasp handle of the top drawer", "move grasped object out", "release", "grasp handle of the bottom drawer", "move grasped object out", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the middle drawer is never opened.", "detailed_subtask_name":null, "failure_mode":"missing subtask"}
|
| 9 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"close all the drawers that appear open", "plan":["grasp handle of the top drawer", "move grasped object to drawer closed position", "release", "grasp handle of the middle drawer", "move grasped object to drawer closed position", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 10 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"close all the drawers that appear open", "plan":["grasp handle of the top drawer", "move grasped object to drawer closed position", "release", "grasp handle of the bottom drawer", "move grasped object to drawer closed position", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the bottom drawer is already closed, while the middle drawer is open and should have been selected instead of the bottom one", "detailed_subtask_name":null, "failure_mode":"wrong object manipulated"}
|
| 11 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"stack the can onto the pink cube, then stack the frog toy on top of this stack, then unstack everything and put them back on the table", "plan":["grasp can", "move grasped object to top of pink cube", "release", "grasp frog toy", "move grasped object to top of can", "release", "grasp frog toy", "move grasped object to table", "release", "grasp can", "move grasped object to table", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 12 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"stack the can onto the pink cube, then stack the frog toy on top of this stack, then unstack everything and put them back on the table", "plan":["grasp can", "move grasped object to top of pink cube", "release", "grasp frog toy", "move grasped object to top of can", "release", "grasp frog toy", "move grasped object to table", "release", "grasp can", "move grasped object to top of frog toy", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the can is stacked on the frog toy instead of put back on the table", "detailed_subtask_name":null, "failure_mode":"wrong object state or placement"}
|
| 13 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"stack the can onto the pink cube, then stack the frog toy on top of this stack, then unstack the frog toy and put it next to the stack but not onto", "plan":["grasp can", "move grasped object to top of pink cube", "release", "grasp frog toy", "move grasped object to top of can", "release", "grasp frog toy", "move grasped object next to but not onto the stack", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 14 |
+
{"taskvar":"real_put_item_in_drawer+10", "episode_id":0, "task_instruction":"stack the can onto the pink cube, then stack the frog toy on top of this stack, then unstack the frog toy and put it next to the stack but not onto", "plan":["grasp can", "move grasped object to top of pink cube", "release", "grasp frog toy", "move grasped object next to but not onto the stack", "release", "grasp frog toy", "move grasped object to top of can", "release"], "images":["records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the frog toy is first moved next to the stack instead of onto it", "detailed_subtask_name":null, "failure_mode":"wrong order"}
|
| 15 |
+
{"taskvar":"real_stack_cup+0", "episode_id":0, "task_instruction":"stack a yellow cup onto a pink cup onto a navy cup", "plan":["grasp yellow cup", "move grasped object to pink cup", "release", "grasp pink cup", "move grasped object to navy cup", "release"], "images":["records/real_stack_cup+0/episode0/2_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 16 |
+
{"taskvar":"real_stack_cup+0", "episode_id":0, "task_instruction":"stack a yellow cup onto a pink cup onto a navy cup", "plan":["grasp yellow cup", "move grasped object to pink cup", "release", "grasp pink cup", "release"], "images":["records/real_stack_cup+0/episode0/2_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"missing subtask: move grasped object to navy cup.", "detailed_subtask_name":null, "failure_mode":"missing subtask"}
|
| 17 |
+
{"taskvar":"real_stack_cups+0", "episode_id":0, "task_instruction":"stack red cup onto yellow cup onto black cup", "plan":["grasp red cup", "move grasped object to yellow cup", "release", "grasp yellow cup", "move grasped object to black cup", "release"], "images":["records/real_stack_cups+0/0/19_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 18 |
+
{"taskvar":"real_stack_cups+0", "episode_id":0, "task_instruction":"stack yellow cup onto red cup onto black cup", "plan":["grasp red cup", "move grasped object to yellow cup", "release", "grasp yellow cup", "move grasped object to black cup", "release"], "images":["records/real_stack_cups+0/0/19_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the subtasks of the plan does not match the instruction, the robot should stack yellow cup onto red cup onto black cup, but the plan will stack red cup onto yellow cup onto black cup.", "detailed_subtask_name":null, "failure_mode":"wrong object state or placement"}
|
| 19 |
+
{"taskvar":"real_pick_item_in_box+0", "episode_id":2, "task_instruction":"store the food in the container", "plan":["grasp croissant", "move grasped object to box", "release"], "images":["records/real_pick_item_in_box+0/episode2/2_img_viewpoint_left.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 20 |
+
{"taskvar":"real_pick_item_in_box+0", "episode_id":2, "task_instruction":"place the food on the table", "plan":["grasp croissant", "move grasped object to box", "release"], "images":["records/real_pick_item_in_box+0/episode2/2_img_viewpoint_left.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the subtasks of the plan does not match the instruction, the robot should place the food on the table, but the plan will store the food in the container.", "detailed_subtask_name":null, "failure_mode":"wrong object state or placement"}
|
| 21 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the banana, the grapes, the strawberry, yellow peach, yellow lemon, green pear in the blue plate", "plan":["grasp banana", "move grasped object to blue plate", "release", "grasp grapes", "move grasped object to blue plate", "release", "grasp strawberry", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow lemon", "move grasped object to blue plate", "release", "grasp green pear", "move grasped object to blue plate", "release"], "images":["records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 22 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the banana, the grapes, the strawberry, yellow peach, yellow lemon, green pear in the blue plate", "plan":["grasp banana", "move grasped object to blue plate", "release", "grasp grapes", "move grasped object to blue plate", "release", "grasp raspberry", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow lemon", "move grasped object to blue plate", "release", "grasp green pear", "move grasped object to blue plate", "release"], "images":["records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the plan mentions a raspberry instead of a strawberry.", "detailed_subtask_name":null, "failure_mode":"wrong object manipulated"}
|
| 23 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the banana, the grapes in the pink plate, then the strawberry, yellow peach, yellow lemon, green pear in the blue plate", "plan":["grasp banana", "move grasped object to pink plate", "release", "grasp grapes", "move grasped object to pink plate", "release", "grasp raspberry", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow lemon", "move grasped object to blue plate", "release", "grasp green pear", "move grasped object to blue plate", "release"], "images":["records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 24 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the banana, the grapes in the pink plate, then the strawberry, yellow peach, yellow lemon, green pear in the blue plate", "plan":["grasp banana", "move grasped object to pink plate", "release", "grasp grapes", "move grasped object to pink plate", "release", "grasp raspberry", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow lemon", "move grasped object to blue plate", "release", "grasp green pear", "move grasped object to pink plate", "release"], "images":["records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the green pear is moved to the pink plate instead of the blue plate.", "detailed_subtask_name":null, "failure_mode":"wrong object state or placement"}
|
| 25 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the yellow peach in the blue plate, then to the pink plate, then again to the blue plate", "plan":["grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to pink plate", "release", "grasp yellow peach", "move grasped object to blue plate", "release"], "images":["records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 26 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"put the yellow peach in the blue plate, then to the pink plate, then again to the blue plate", "plan":["grasp yellow peach", "move grasped object to blue plate", "release", "grasp yellow peach", "move grasped object to pink plate", "release"], "images":["records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the peach is never moved back to the blue plate.", "detailed_subtask_name":null, "failure_mode":"missing subtask"}
|
| 27 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"stack the blue plate on top of the pink plate, then put the strawberry in the blue plate", "plan":["grasp blue plate", "move grasped object to pink plate", "release", "grasp strawberry", "move grasped object to blue plate", "release"], "images":["records/real_put_fruits_in_plate+0/0/0_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 28 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"stack the blue plate on top of the pink plate, then put the strawberry in the blue plate", "plan":["grasp strawberry", "move grasped object to blue plate", "release", "grasp blue plate", "move grasped object to pink plate", "release"], "images":["records/real_put_fruits_in_plate+0/0/0_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the robot should first stack the blue plate on top of the pink plate, then put the strawberry in the blue plate, not the other way around.", "detailed_subtask_name":null, "failure_mode":"wrong order"}
|
| 29 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"stack the blue plate on top of the pink plate, then put the strawberry, and yellow lemon and banana in the blue plate, then move back the banana to the table", "plan": ["grasp blue plate", "move grasped object to pink plate", "release", "grasp strawberry", "move grasped object to blue plate", "release", "grasp yellow lemon", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to blue plate", "release", "grasp banana", "move grasped object out", "move grasped object to table", "release"], "images":["records/real_put_fruits_in_plate+0/0/0_img_viewpoint_0.png"], "planning_reward":1, "execution_reward":1, "failure_reason":null, "detailed_subtask_name":null, "failure_mode":null}
|
| 30 |
+
{"taskvar":"real_put_fruits_in_plate+0", "episode_id":0, "task_instruction":"stack the blue plate on top of the pink plate, then put the strawberry, and yellow lemon and banana in the blue plate, then move back the banana to the table", "plan": ["grasp blue plate", "move grasped object to pink plate", "release", "grasp strawberry", "move grasped object to blue plate", "release", "grasp yellow lemon", "release", "move grasped object to blue plate", "release", "grasp banana", "move grasped object to blue plate", "release", "grasp banana", "move grasped object out", "move grasped object to table", "release"], "images":["records/real_put_fruits_in_plate+0/0/0_img_viewpoint_0.png"], "planning_reward":0, "execution_reward":1, "failure_reason":"the yellow lemon is released before being moved", "detailed_subtask_name":null, "failure_mode":"contradictory subtasks"}
|
records.tar.gz
ADDED
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@@ -0,0 +1,3 @@
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+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:1533cf3bd28b9a843dc59243ad0f9622e8ac2527392a9accea95858c206f7826
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size 13206109
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