messages listlengths 1 1 | target dict |
|---|---|
[
{
"content": [
{
"image": "trainset/356/658079/Grasp the left arm with white plastic bag_/00017.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/658079/Grasp the left arm with white plastic bag_/00010.jpg",
"ima... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于带白色塑料袋的左臂（目标物品）正上方，右侧机械臂位于目标物品右侧。左侧机械臂夹持器状态为张开，夹爪指尖与目标物品间存在空隙；右侧机械臂夹持器状态为闭合，夹爪指尖完全并拢。目标物品位于左侧机械臂下方、右侧机械臂左侧，且放置在工作台（某物品）上，工作台位于左右机械臂下方。\nimg2: 左侧机械臂在右侧机械臂的左侧，其左臂末端套有白色塑料袋，该左臂位于右侧机械臂的前方。右侧机械臂位于左侧机械臂左臂及白色塑料袋的前方，其夹持器闭合，已物理接触并夹住左侧机械臂套... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_001921.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the size of the green shiny thing the same as the thing to the right of the green ... | {
"answer": "yes",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/380/666181/Place the air column film held by left arm onto the items in the carton_/00395.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/666181/Place the air column film held by lef... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于纸箱上方，其夹持器闭合，正夹持气柱膜；气柱膜处于纸箱内物品的正上方。右侧机械臂位于纸箱右侧，其夹持器张开，未夹持物体。纸箱内物品位于纸箱中，纸箱处于左右机械臂之间的操作区域。\nimg2: 左侧机械臂位于纸箱内物品的上方，其夹持器闭合，正夹持着气柱膜。右侧机械臂在纸箱的右侧，夹持器呈张开状态。气柱膜被左侧机械臂夹持，处于纸箱内物品的正上方。纸箱内的物品位于纸箱中，纸箱处于左右机械臂的工作区域内，左侧机械臂在纸箱上方，右侧机械臂在纸箱右侧。"
} |
[
{
"content": [
{
"image": "trainset/362/653121/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00061.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/653121/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在米色短裤腰带的左侧，右侧机械臂在米色短裤腰带的右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品米色短裤的腰带部分被左右机械臂夹持，短裤的腿部部分在腰带的下方，位于左右机械臂的下方。短裤整体处于左右机械臂之间，腰带在上，腿部在下，机械臂正将腰带向下折叠至腿部上方。\nimg2: 左侧机械臂在米色短裤腰部左侧，右侧机械臂在米色短裤腰部右侧。左侧机械臂夹持器闭合，已夹住米色短裤腰带左侧；右侧机械臂夹持器闭合，已夹住米色短裤腰带右侧。目标物品米色短裤位于... |
[
{
"content": [
{
"image": "trainset/380/656429/Place the air column film held by right arm onto the items in the carton_/00149.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/656429/Place the air column film held by ri... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在纸箱的左侧，其夹持器处于张开状态。右侧机械臂在纸箱的上方，其夹持器闭合，正夹住气柱膜。气柱膜被右侧机械臂夹持，位于纸箱内物品的上方。纸箱内物品在纸箱中，纸箱位于左右机械臂之间的下方。右侧机械臂正将气柱膜向纸箱内物品的方向移动，准备放置。\nimg2: 左侧机械臂在纸箱左侧，其夹持器处于张开状态。右侧机械臂在纸箱上方，夹持器闭合且夹住气柱膜。气柱膜在右侧机械臂夹持下位于纸箱中的物品上方。纸箱中的物品在纸箱内部，位于右侧机械臂下方。"
} |
[
{
"content": [
{
"image": "trainset/475/700115/Press the right side of the garment with the steam iron held in the right hand_/00155.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/475/700115/Press the right side of the ga... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 右侧机械臂位于衣物右侧，其夹持器闭合夹住蒸汽熨斗，蒸汽熨斗底部接触衣物右侧表面；左侧机械臂位于衣物左侧，其夹持器张开。衣物平铺于工作台面，位于左右机械臂之间，蒸汽熨斗在右侧机械臂夹持下处于衣物右侧上方并与衣物接触，左侧机械臂在衣物左侧未接触衣物。\nimg2: 左侧机械臂在衣物左侧上方，右侧机械臂在衣物右侧上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为闭合（夹住蒸汽熨斗）。目标物品衣物位于左右机械臂下方，其右侧区域正被右侧机械臂所持蒸汽熨斗按压。蒸汽熨斗在右... |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__dd900e54fa3d7eaf21e991ce9465941a.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "From the ego vehicle's perspective, where is t... | {
"answer": "The ego vehicle observes the object at bounding box [755, 776, 1153, 1105] at an angle of about 8 degrees relative to its forward direction.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/352/664960/Open the refrigerator door with the left arm_/00036.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/664960/Open the refrigerator door with the left arm_/00050.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于冰箱门前方，其夹持器已物理接触并夹住冰箱门边缘，状态为闭合。右侧机械臂位于冰箱门右侧，未接触任何物体，夹持器指尖未完全并拢，状态为张开。冰箱门相对于左侧机械臂在其前方，相对于右侧机械臂在其左侧。右侧机械臂在冰箱门右侧。\nimg2: 左侧机械臂在冰箱门前方，其夹持器闭合夹住冰箱门边缘。右侧机械臂在冰箱右侧，其夹持器张开。目标物品冰箱门被左侧机械臂夹持，位于冰箱前方且处于打开过程中。冰箱位于左侧机械臂后方，位于右侧机械臂左侧。"
} |
[
{
"content": [
{
"image": "trainset/421/683589/Lower the cup held in the left arm_/00135.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/683589/Lower the cup held in the left arm_/00125.jpg",
"image_id": "img2"... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在杯子上方，夹住杯子；右侧机械臂在杯子右侧。左侧机械臂夹持器状态为闭合（夹爪物理接触并夹住杯子）；右侧机械臂夹持器状态为张开（未夹住物体且指尖未完全并拢）。目标物品杯子被左侧机械臂夹持，位于桌子上方；桌子位于左右机械臂下方。\nimg2: 左侧机械臂在杯子周围，夹爪物理接触并夹住杯子，夹持器状态为闭合；右侧机械臂在杯子右侧，未夹持物品，夹持器状态为张开。目标物品杯子被左侧机械臂夹持，位于桌面上方；桌面在左右两个机械臂下方。杯子相对于左侧机械臂处于被夹持状态，... |
[
{
"content": [
{
"image": "trainset/392/680495/Grab the cup brush from the storage box on the counter with the right arm_/00110.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/680495/Grab the cup brush from the storage... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在储物盒左侧的台面上空，右侧机械臂在储物盒正上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开（指尖与储物盒内的杯刷间存在空隙）。目标物品杯刷位于储物盒内部，储物盒放置在台面上。储物盒在右侧机械臂下方，在左侧机械臂右侧。\nimg2: 左侧机械臂在柜台上方、储物盒的左侧，夹持器闭合。右侧机械臂在储物盒正上方，夹持器张开，夹爪对准储物盒内部。目标物品杯刷位于储物盒内，储物盒放置在柜台上。右侧机械臂夹持器指尖与杯刷之间存在空隙，处于准备抓取状态。储物盒... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_001819.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a cube that is the same color as the big matte thing; what is its material?"... | {
"answer": "rubber",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/475/701347/Lift the steam iron on the right side of the right arm_/00011.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/475/701347/Lift the steam iron on the right side of the right arm... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在蒸汽熨斗左侧，右侧机械臂在蒸汽熨斗左侧。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为闭合。目标物品蒸汽熨斗在右侧机械臂右侧，在左侧机械臂右侧。蒸汽熨斗相对于右侧机械臂处于其右侧位置，右侧机械臂通过闭合的夹持器与蒸汽熨斗物理接触。\nimg2: 左侧机械臂在右侧机械臂的左侧。右侧机械臂位于蒸汽熨斗的上方，其夹持器闭合，已物理接触并夹住蒸汽熨斗。蒸汽熨斗在右侧机械臂的右侧，当前被右侧机械臂夹持并处于抬起状态。左侧机械臂的夹持器张开，未夹住任何物体。"
} |
[
{
"content": [
{
"image": "trainset/392/681227/Place the gray water bottle held in the left arm back onto the table_/00312.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/681227/Place the gray water bottle held in the ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在桌子上方，其夹持器闭合，正持有灰色水瓶；灰色水瓶位于桌子上方，接近桌面；右侧机械臂在桌子右侧，其夹持器张开；桌子位于左右机械臂下方，是灰色水瓶待放置的目标位置。\nimg2: 左侧机械臂位于桌子上方，灰色水瓶在其下方，且水瓶底部接触桌面。左侧机械臂夹持器处于张开状态，未夹住水瓶。右侧机械臂位于桌子右侧，夹持器呈张开状态。灰色水瓶位于桌子上方，左侧机械臂正下方。桌子作为基准平面，支撑灰色水瓶，左侧机械臂在水瓶上方，右侧机械臂在桌子右侧。"
} |
[
{
"content": [
{
"image": "trainset/362/667435/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00105.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/667435/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在米色短裤腰部的左侧，右侧机械臂在米色短裤腰部的右侧。左侧机械臂夹持器闭合，已物理接触并夹住短裤腰头左侧；右侧机械臂夹持器闭合，已物理接触并夹住短裤腰头右侧。米色短裤的腰部位于左右机械臂之间，腿部部分在腰部下方，相对于左右机械臂处于下方位置。短裤腿部部分在腰部正下方，相对于左右机械臂位于下方，左右机械臂分别在短裤腰头两侧夹持，整体呈腰头朝上、腿部朝下的状态。\nimg2: 左侧机械臂在米色短裤腰带的左侧，右侧机械臂在米色短裤腰带的右侧。左侧机械臂夹持器闭合，... |
[
{
"content": [
{
"image": "sqa3D/scene0206_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the bookshelf to my right parallel to the desk to my left?",
"type": "text"... | {
"answer": "yes",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/377/651447/Pick up the air column film outside the cardboard box_/00079.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/651447/Pick up the air column film outside the cardboard box_/... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在空气柱膜上方，右侧机械臂在纸箱右侧。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。目标物品空气柱膜位于纸箱外侧，在左侧机械臂正下方、纸箱前方。纸箱在右侧机械臂左侧，空气柱膜在纸箱外部且未被夹持。\nimg2: 左侧机械臂在气柱膜上方，右侧机械臂在纸箱右侧。左侧机械臂夹持器张开，其夹爪指尖与气柱膜间存在空隙；右侧机械臂夹持器闭合，夹爪指尖完全并拢。目标物品气柱膜位于纸箱外部，在左侧机械臂正下方、右侧机械臂左侧；纸箱在左侧机械臂右下方、右侧机械臂左侧。气柱膜与纸... |
[
{
"content": [
{
"image": "trainset/368/666761/Grasp the seasoning bottle with the right arm_/00075.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/368/666761/Grasp the seasoning bottle with the right arm_/00087.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在调味瓶的左侧，右侧机械臂在调味瓶的正上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品调味瓶在左侧机械臂的右侧，在右侧机械臂的下方，调味瓶放置在桌面上，桌面在左右两个机械臂的下方。\nimg2: 左侧机械臂位于调料瓶左侧，其夹持器指尖未完全并拢且未接触物体，状态为张开。右侧机械臂位于调料瓶上方，其夹持器已物理接触并夹住调料瓶，状态为闭合。调料瓶位于左侧机械臂右侧、右侧机械臂下方，某物品（桌面）位于调料瓶下方，左右机械臂均位于某物品上方。... |
[
{
"content": [
{
"image": "trainset/362/650008/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00118.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/650008/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在米色短裤腰带的左侧，右侧机械臂在腰带的右侧；左侧机械臂夹持器闭合，已夹住腰带左侧部分，右侧机械臂夹持器闭合，已夹住腰带右侧部分；米色短裤的腰带位于左右机械臂之间，短裤的腿部部分在腰带下方，左右机械臂正将腰带向下折叠至腿部上方。\nimg2: 左侧机械臂在米色短裤腰带左侧，右侧机械臂在米色短裤腰带右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品米色短裤的腰带被左右机械臂夹持，短裤腿部部分在腰带下方，相对于左右机械臂处于下方位置。短裤腰带部分被夹持后... |
[
{
"content": [
{
"image": "trainset/361/684690/Smooth out a messy beige shorts with both arms and spread it flat_/00108.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/684690/Smooth out a messy beige shorts with both a... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在米色短裤左侧部分上方，右侧机械臂在米色短裤右侧部分上方。左侧机械臂夹持器闭合，夹住短裤左边缘；右侧机械臂夹持器闭合，夹住短裤右边缘。米色短裤位于左右机械臂之间，下方为工作台，工作台在左右机械臂下方。\nimg2: 左侧机械臂在米色短裤左侧，右侧机械臂在米色短裤右侧。左侧机械臂夹持器闭合，已夹住短裤左侧边缘；右侧机械臂夹持器闭合，已夹住短裤右侧边缘。米色短裤位于工作台上方，左右机械臂分别在工作台上方。工作台在左右机械臂下方，短裤处于左右机械臂之间，整体布局利... |
[
{
"content": [
{
"image": "trainset/377/650493/Pick up usb charging cable with right arm_/00058.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/650493/Pick up usb charging cable with right arm_/00067.jpg",
"ima... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在桌面左侧物品（如手机）的左侧，右侧机械臂在USB充电线的正上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品USB充电线在右侧机械臂的正下方，在桌面左侧物品的右侧。桌面左侧物品在左侧机械臂的右侧，在右侧机械臂的左侧。USB充电线平铺于桌面上，右侧机械臂夹持器正对线缆中部，指尖与线缆间存在空隙，处于准备抓取状态。\nimg2: 左侧机械臂在桌面左侧，右侧机械臂在USB充电线上方。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈张开状态。US... |
[
{
"content": [
{
"image": "trainset/361/669482/Smooth out a messy black shorts with both arms and spread it flat_/00058.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/669482/Smooth out a messy black shorts with both a... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于黑色短裤左侧边缘上方，夹持器闭合夹住短裤左侧部分；右侧机械臂位于黑色短裤右侧边缘上方，夹持器闭合夹住短裤右侧部分；黑色短裤位于工作台表面，处于左右机械臂之间，整体呈被向两侧拉伸的状态；工作台位于左右机械臂下方，支撑黑色短裤。\nimg2: 左侧机械臂在黑色短裤左侧上方，右侧机械臂在黑色短裤右侧上方。左侧机械臂夹持器闭合，夹住短裤左边缘；右侧机械臂夹持器闭合，夹住短裤右边缘。黑色短裤位于左右机械臂之间下方，平铺在工作台表面，处于被双臂向两侧拉伸抚平的状态。... |
[
{
"content": [
{
"image": "trainset/377/649195/Place the held dried plum and tangerine peel cake into the carton_/00142.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/649195/Place the held dried plum and tangerine pee... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在纸盒左侧，右侧机械臂在纸盒上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合（夹住目标陈皮梅蛋糕）。目标陈皮梅蛋糕在右侧机械臂下方，同时位于纸盒上方。纸盒位于右侧机械臂下方、左侧机械臂右侧。\nimg2: 左侧机械臂在纸箱左侧，右侧机械臂在纸箱上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。目标物品（dried plum and tangerine peel cake）被右侧机械臂夹持，位于纸箱正上方。纸箱位于工作台面上，处于左右机械臂之间的下方位置，右侧... |
[
{
"content": [
{
"image": "trainset/410/659617/Pour the water from the held tea-colored kettle into the nearby cup_/00025.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/659617/Pour the water from the held tea-colored ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 右侧机械臂在杯子上方，其夹持器闭合以夹住茶褐色水壶；左侧机械臂在杯子左侧，夹持器张开。茶褐色水壶被右侧机械臂夹持，位于杯子正上方；杯子在右侧机械臂下方、左侧机械臂右侧。关键物品布局为：右侧机械臂持水壶于杯子上方，杯子处于两者之间，左侧机械臂在杯子旁未参与操作。\nimg2: 左侧机械臂在杯子上方，其夹持器闭合，正夹持茶褐色水壶；右侧机械臂在杯子右侧，其夹持器张开。茶褐色水壶被左侧机械臂闭合的夹持器夹住，位于杯子上方；杯子在左侧机械臂下方、右侧机械臂左侧。水壶口朝向杯子... |
[
{
"content": [
{
"image": "trainset/384/678510/Lift the horizontally placed book on the shelf with the right arm_/00018.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/678510/Lift the horizontally placed book on the sh... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在书架左侧，其夹持器状态为张开。右侧机械臂在水平放置的书上方，其夹持器已物理接触并夹住书，状态为闭合。目标物品书被右侧机械臂夹持并抬离书架，位于书架上方，相对于左侧机械臂在其右侧。书架在左侧机械臂右侧、右侧机械臂下方。\nimg2: 左侧机械臂在书架左侧，夹持器状态为张开。右侧机械臂在水平放置的书的正上方，夹持器状态为闭合。目标物品书水平放置在书架中层，书在右侧机械臂下方，在左侧机械臂右侧。书架在左侧机械臂右侧，在右侧机械臂下方。"
} |
[
{
"content": [
{
"image": "trainset/352/655510/Open the refrigerator door with the left arm_/00013.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/655510/Open the refrigerator door with the left arm_/00000.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在冰箱门前方，其夹持器闭合夹住冰箱门。右侧机械臂在冰箱主体右侧，其夹持器张开。目标物品冰箱门位于冰箱主体前方，被左侧机械臂夹持，处于部分开启状态。冰箱主体位于左侧机械臂后方和右侧机械臂左侧。任务相关关键物品布局为：冰箱主体在中间，左侧机械臂在冰箱主体前方并接触冰箱门，右侧机械臂在冰箱主体右侧空闲。\nimg2: 左侧机械臂在冰箱门前方，其夹持器闭合，已物理接触并夹住冰箱门边缘。右侧机械臂在冰箱主体右侧，夹持器张开，处于空闲状态。目标物品冰箱门位于左侧机械臂前... |
[
{
"content": [
{
"image": "trainset/362/653139/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00081.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/653139/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在米色短裤腰带的左侧，右侧机械臂在米色短裤腰带的右侧。左侧机械臂夹持器闭合，已夹住腰带左侧部分；右侧机械臂夹持器闭合，已夹住腰带右侧部分。米色短裤平铺于支撑平面上方，腰带部分位于上方，腿部部分位于下方。支撑平面在左右机械臂的下方，左右机械臂均在支撑平面上方，正共同夹持腰带准备向下折叠至腿部。\nimg2: 左侧机械臂在米色短裤裤腰的左侧上方，右侧机械臂在米色短裤裤腰的右侧上方。左侧机械臂夹持器状态为闭合，右侧机械臂夹持器状态为闭合。目标物品米色短裤位于左右机... |
[
{
"content": [
{
"image": "trainset/410/686557/Lift the left arm with gray water bottle_/00034.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/686557/Lift the left arm with gray water bottle_/00027.jpg",
"image... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂夹持器闭合，夹住灰色水瓶，灰色水瓶位于某物品上方。右侧机械臂位于灰色水瓶右侧，其夹持器张开。某物品位于左侧机械臂和右侧机械臂下方。\nimg2: 左侧机械臂夹持器闭合，夹住灰色水瓶并将其举起到某物品上方；右侧机械臂位于灰色水瓶右侧，其夹持器处于张开状态。灰色水瓶被左侧机械臂夹持，位于某物品上方；某物品位于左侧机械臂下方，右侧机械臂在其旁边。"
} |
[
{
"content": [
{
"image": "trainset/377/672620/Pick up blue cream with left arm_/00077.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/672620/Pick up blue cream with left arm_/00087.jpg",
"image_id": "img2",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于蓝色奶油正上方，右侧机械臂位于蓝色奶油右侧的白色容器旁边。左侧机械臂夹持器状态为张开，其夹爪呈钳形准备抓取，指尖与蓝色奶油表面存在空隙。右侧机械臂夹持器状态为张开。目标物品蓝色奶油位于桌面上，在左侧机械臂正下方，白色容器位于蓝色奶油右侧，右侧机械臂在白色容器旁边。\nimg2: 左侧机械臂在blue cream上方，其夹持器呈张开状态；右侧机械臂在blue cream右侧，其夹持器呈张开状态。blue cream位于左侧机械臂正下方，同时在右侧机械臂左侧... |
[
{
"content": [
{
"image": "trainset/384/659117/Push the misplaced book on the shelf to the end with your right arm_/00098.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/659117/Push the misplaced book on the shelf to t... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在书架的左侧上方，夹持器处于张开状态。右侧机械臂在错位的书的左侧，夹持器与书表面接触但未夹住，处于张开状态。目标物品（错位的书）位于书架上表面中间位置，未到达书架末端，书在右侧机械臂的右侧。书架位于左右机械臂之间，书在书架上，右侧机械臂的位置便于向书架末端推动书籍。\nimg2: 左侧机械臂在书架左侧，右侧机械臂在书架前方且位于目标书（错位的书）右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器张开。目标书位于书架中间层，在右侧机械臂左侧、书架内侧，未处于书架末端... |
[
{
"content": [
{
"image": "trainset/362/666710/Grasp the lower pant leg and waistband of black shorts and fold them over the upper pant leg and waistband_/00037.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/666710/Gr... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在黑色短裤下裤腿的旁边，夹持器闭合（已夹住下裤腿）；右侧机械臂在黑色短裤裤腰的旁边，夹持器闭合（已夹住裤腰）。黑色短裤位于工作台上方，其下裤腿和裤腰在机械臂夹持下处于上裤腿和裤腰的下方。工作台在左右机械臂的下方，左右机械臂正将夹住的下裤腿和裤腰向上移动，准备折叠至上裤腿和裤腰处。\nimg2: 左侧机械臂在黑色短裤下裤腿上方，夹持器张开；右侧机械臂在黑色短裤腰带右侧，夹持器闭合夹住腰带。黑色短裤平铺于工作台上方，下裤腿位于上裤腿上方，腰带在上裤腿上部。工作台... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002620.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "The gray metal cube is what size?",
"type": "text"
}
],
"role":... | {
"answer": "small",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "DAQUAR/image48.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "what is above the wash basin",
"type": "text"
}
],
"role": "user"
}
] | {
"answer": "shelves",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/421/687901/Grasp the cloth on the table and wipe the stain_/00047.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/687901/Grasp the cloth on the table and wipe the stain_/00055.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在布的上方，右侧机械臂在污渍的左侧。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈闭合状态。目标物品布位于左侧机械臂的下方，在桌子的表面；污渍位于桌子上，在布的右侧，在右侧机械臂的前方。桌子作为相关物品，位于左右两个机械臂的下方。\nimg2: 左侧机械臂在桌子上方，位于布的正上方；右侧机械臂在桌子右侧，位于污渍的旁边。左侧机械臂夹持器呈张开状态，指尖与布之间存在空隙；右侧机械臂夹持器闭合，指尖完全并拢。目标物品布位于桌子表面，在左侧机械臂的正下方，在右侧机... |
[
{
"content": [
{
"image": "trainset/376/677875/Place the held smart charger into the right blue target box_/00054.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/677875/Place the held smart charger into the right blue ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 右侧机械臂夹持着智能充电器，位于右侧蓝色目标盒上方，其夹持器状态为闭合；左侧机械臂在右侧蓝色目标盒左侧，夹持器状态为张开。智能充电器被右侧机械臂夹持，处于右侧蓝色目标盒正上方，右侧蓝色目标盒位于右侧机械臂下方。\nimg2: 左侧机械臂在右侧蓝色目标盒的左侧，其夹持器状态为张开。右侧机械臂在右侧蓝色目标盒的上方，夹持器状态为闭合，正夹持着智能充电器。智能充电器被右侧机械臂夹持，位于右侧蓝色目标盒的正上方。右侧蓝色目标盒在右侧机械臂的下方、左侧机械臂的右侧。"
} |
[
{
"content": [
{
"image": "trainset/365/689478/Retrieve hair conditioner from bottom left of the material frame with the left arm_/00000.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/365/689478/Retrieve hair conditioner ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于物料架底部左侧区域，在护发素上方；右侧机械臂在物料架右侧，远离目标区域。左侧机械臂夹持器呈张开状态，指尖与护发素间存在空隙；右侧机械臂夹持器处于张开状态。目标物品护发素位于物料架底部左侧，在左侧机械臂下方。物料架位于左右机械臂之间，其底部左侧区域为左侧机械臂的操作区域。\nimg2: 左侧机械臂位于材料架左下角的护发素上方，其夹持器呈张开状态，指尖与护发素之间存在空隙。右侧机械臂在材料架右侧，夹持器处于张开状态。目标物品护发素位于材料架的左下角，在左侧机... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000475.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "How many other yellow rubber objects have the same shape as the yellow object?",
... | {
"answer": "0",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/366/658215/Retrieve small bag of wuchang rice from bottom right corner of the material frame with the left arm_/00006.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/366/658215/Retrieve ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于物料架右下角区域，在小袋五常大米的上方；右侧机械臂在物料架的左侧，远离目标物品。左侧机械臂夹持器呈张开状态，指尖与小袋五常大米间存在空隙；右侧机械臂夹持器闭合，指尖完全并拢。小袋五常大米位于物料架右下角，处于左侧机械臂的正下方；物料架在右侧机械臂的右侧，整体布局中目标物品与左侧机械臂位置对应，右侧机械臂未干扰任务区域。\nimg2: 左侧机械臂在物料架右下角的小袋五常大米上方，其夹持器呈张开状态。右侧机械臂在物料架左侧，夹持器处于张开状态。小袋五常大米位... |
[
{
"content": [
{
"image": "trainset/362/654577/Grasp the lower pant leg and waistband of beige shorts and fold them over the upper pant leg and waistband_/00021.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/654577/Gr... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于米色短裤下裤腿的左下方，其夹持器闭合，夹住下裤腿；右侧机械臂位于米色短裤裤腰的右上方，其夹持器闭合，夹住裤腰。米色短裤的上裤腿位于下裤腿的上方，下裤腿和裤腰在左右机械臂的夹持下向上抬起，处于即将折叠到上裤腿和裤腰上方的状态。\nimg2: 左侧机械臂在米色短裤下裤腿的右侧，右侧机械臂在米色短裤腰带的左侧。左侧机械臂夹持器闭合，夹住下裤腿；右侧机械臂夹持器闭合，夹住腰带。米色短裤平铺在桌面上，桌面位于左右机械臂的下方。下裤腿和腰带被机械臂夹持并向上提起，处... |
[
{
"content": [
{
"image": "trainset/365/691909/Retrieve red vitamin e lotion from right material frame with the right arm_/00065.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/365/691909/Retrieve red vitamin e lotion from... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在右侧物料架的左侧，其夹持器处于张开状态。右侧机械臂在右侧物料架的前方，其夹持器处于张开状态，夹爪位于红色维生素E乳液的两侧，指尖与乳液间存在空隙。红色维生素E乳液位于右侧物料架上，在右侧机械臂的下方。右侧物料架在右侧机械臂的后方，在左侧机械臂的右侧。\nimg2: 左侧机械臂位于右侧物料架左侧，未接触任何物品，其夹持器指尖未完全并拢，状态为张开。右侧机械臂位于右侧物料架前方，其夹持器已物理接触并夹住红色维生素E乳液，状态为闭合。红色维生素E乳液被右侧机械臂... |
[
{
"content": [
{
"image": "trainset/376/680096/Place the held standard usb 3.0 cable into the right blue target box_/00065.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/680096/Place the held standard usb 3.0 cable in... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在右侧蓝色目标盒左侧，其夹持器处于张开状态。右侧机械臂位于右侧蓝色目标盒上方，其夹持器处于闭合状态，正夹住标准USB 3.0线缆。目标物品标准USB 3.0线缆被右侧机械臂夹持，位于右侧蓝色目标盒上方。右侧蓝色目标盒在右侧机械臂下方，位于左侧机械臂右侧。\nimg2: 左侧机械臂在右侧蓝色目标盒左侧，其夹持器处于张开状态。右侧机械臂在右侧蓝色目标盒上方，其夹持器处于闭合状态，正夹持着标准USB 3.0线缆。标准USB 3.0线缆被右侧机械臂夹持，位于右侧蓝色... |
[
{
"content": [
{
"image": "trainset/392/679863/Turn on the faucet with the right arm_/00088.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/679863/Turn on the faucet with the right arm_/00079.jpg",
"image_id": ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在水龙头左侧，右侧机械臂在水龙头前方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为闭合。目标物品水龙头位于右侧机械臂前方，左侧机械臂在水龙头左侧。水龙头作为任务关键物品，右侧机械臂通过闭合的夹持器与其接触，处于可执行开启动作的位置，左侧机械臂在旁未参与直接操作。\nimg2: 左侧机械臂在水龙头左侧，右侧机械臂在水龙头前方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合（夹住水龙头手柄）。目标物品水龙头相对于右侧机械臂在其后方，相对于左侧机械臂在其右侧。水... |
[
{
"content": [
{
"image": "trainset/362/671408/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00130.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/671408/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于米色短裤裤腰的左侧上方，右侧机械臂位于米色短裤裤腰的右侧上方。左侧机械臂夹持器闭合，已夹住裤腰左侧部分；右侧机械臂夹持器闭合，已夹住裤腰右侧部分。米色短裤位于腿部上方，裤腰被左右机械臂共同夹持，腿部在短裤下方。关键物品布局：左右机械臂分别在裤腰左右两侧并夹紧裤腰，短裤整体处于腿部正上方，正被向下折叠至腿部。\nimg2: 左侧机械臂在米色短裤裤腰的左侧，右侧机械臂在米色短裤裤腰的右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品米色短裤的裤腰部分... |
[
{
"content": [
{
"image": "trainset/372/674318/Place the grasped cookie biscuit into blue nylon bag_/00088.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/372/674318/Place the grasped cookie biscuit into blue nylon bag_/00... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在蓝色尼龙袋的左侧，右侧机械臂在蓝色尼龙袋的上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为闭合。目标物品饼干被右侧机械臂夹住，位于蓝色尼龙袋的正上方。蓝色尼龙袋位于左侧机械臂的右侧和右侧机械臂的下方。蓝色尼龙袋处于中间位置，左侧机械臂在其左侧，右侧机械臂在其上方并夹持饼干，整体布局显示右侧机械臂正准备将饼干放入下方的蓝色尼龙袋中。\nimg2: 左侧机械臂在蓝色尼龙袋左侧，夹持器张开。右侧机械臂在蓝色尼龙袋上方，夹持器闭合，目标物品（饼干）被右侧机... |
[
{
"content": [
{
"image": "DAQUAR/image1190.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "what is on the right side of the bed",
"type": "text"
}
],
"role": "use... | {
"answer": "lamp",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/356/655242/Grasp the left arm with white plastic bag_/00013.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/655242/Grasp the left arm with white plastic bag_/00001.jpg",
"ima... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在目标左臂的正前方，其夹持器闭合，已物理接触并夹住套在目标左臂末端的白色塑料袋。右侧机械臂在目标左臂的右侧，夹持器处于张开状态。目标左臂位于白色塑料袋内部，白色塑料袋相对于左侧机械臂处于被夹持位置，位于其夹持器之间。目标左臂相对于右侧机械臂在其左侧，白色塑料袋相对于右侧机械臂在其左前方。\nimg2: 左侧机械臂在目标物品（带有白色塑料袋的左臂）前方，右侧机械臂在目标物品右侧。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。目标物品位于某物品上方，某物品在左侧机... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002932.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a small matte object that is to the right of the cube that is in front of th... | {
"answer": "sphere",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000114.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What color is the thing that is the same size as the gray block?",
"type": "t... | {
"answer": "red",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/398/684892/Place the blue round-neck short-sleeve held in the left arm into the left gray target box_/00080.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/398/684892/Place the blue roun... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在左侧灰色目标箱上方，右侧机械臂在左侧灰色目标箱右侧。左侧机械臂夹持器闭合（夹住蓝色圆领短袖），右侧机械臂夹持器张开。目标物品蓝色圆领短袖被左侧机械臂夹持，位于左侧灰色目标箱上方。左侧灰色目标箱在左侧机械臂下方，右侧机械臂在左侧灰色目标箱右侧。\nimg2: 左侧机械臂位于左侧灰色目标箱的上方，其夹持器闭合，正物理接触并夹住蓝色圆领短袖。右侧机械臂位于左侧灰色目标箱的右侧，其夹持器张开，指尖未并拢且未接触任何物体。蓝色圆领短袖被左侧机械臂夹持，处于左侧灰色目... |
[
{
"content": [
{
"image": "sqa3D/scene0618_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Can I see the radiator where I am standing?",
"type": "text"
}
],
... | {
"answer": "yes",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/366/657814/Retrieve white creamer pod from bottom right corner of the material frame with the right arm_/00068.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/366/657814/Retrieve white c... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在物料架左侧上方，右侧机械臂在物料架右下角白色奶精胶囊的正前方。左侧机械臂夹持器处于张开状态，右侧机械臂夹持器处于张开状态。白色奶精胶囊位于物料架右下角，在右侧机械臂正下方，在左侧机械臂右侧。物料架位于左侧机械臂前方，位于右侧机械臂前方。\nimg2: 左侧机械臂在物料架的左侧，右侧机械臂在物料架右下角的白色奶精胶囊上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。白色奶精胶囊位于物料架的右下角，在右侧机械臂的正下方，在左侧机械臂的右侧。物料架位... |
[
{
"content": [
{
"image": "trainset/475/701019/Press the left side of the garment with the steam iron held in the right hand_/00063.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/475/701019/Press the left side of the garm... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在衣物右侧，其夹持器处于张开状态。右侧机械臂在衣物左侧上方，其夹持器闭合并持有蒸汽熨斗，蒸汽熨斗底部接触衣物左侧。目标物品衣物位于左右机械臂之间，蒸汽熨斗在衣物左侧且被右侧机械臂夹持，衣物相对于右侧机械臂处于下方位置。\nimg2: 左侧机械臂在衣物右侧旁边，未接触衣物；右侧机械臂在衣物左侧上方，其夹持器闭合以夹住蒸汽熨斗，熨斗底部接触衣物左侧表面。衣物平铺于支撑平面上，位于左右机械臂之间，支撑平面在左右机械臂下方。左侧机械臂夹持器张开，未夹持任何物体。"
... |
[
{
"content": [
{
"image": "trainset/410/676545/Pour the water from the held gray water bottle into the nearby cup_/00039.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/676545/Pour the water from the held gray water bo... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 右侧机械臂在杯子上方，其夹持器闭合，物理接触并夹住灰色水瓶；左侧机械臂在杯子左侧，其夹持器张开。灰色水瓶被右侧机械臂夹持，位于杯子正上方；杯子在右侧机械臂下方，位于左侧机械臂右侧。\nimg2: 左侧机械臂在杯子上方，其夹持器闭合，正持有灰色水瓶；右侧机械臂在杯子右侧，夹持器张开。灰色水瓶位于杯子正上方，瓶口朝向杯子内部；杯子位于左侧机械臂下方、右侧机械臂左侧。"
} |
[
{
"content": [
{
"image": "trainset/368/679209/Close the oven door with the right arm_/00264.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/368/679209/Close the oven door with the right arm_/00255.jpg",
"image_id"... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在烤箱左侧，其夹持器处于张开状态。右侧机械臂位于烤箱门前方，夹持器闭合，已物理接触并夹住烤箱门。目标物品烤箱门位于右侧机械臂前方，烤箱整体在左右机械臂之间，右侧机械臂通过闭合的夹持器对烤箱门施加作用力以完成关闭动作。\nimg2: 左侧机械臂在烤箱的左侧，其夹持器处于张开状态。右侧机械臂在烤箱门的前方，其夹持器闭合，已物理接触烤箱门。烤箱门位于右侧机械臂的正前方，烤箱在左侧机械臂的右侧，同时位于右侧机械臂的后方。目标物品烤箱门被右侧机械臂夹持，处于即将关闭的... |
[
{
"content": [
{
"image": "trainset/362/669348/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00096.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/669348/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在米色短裤腰带左侧上方，右侧机械臂在米色短裤腰带右侧上方。左侧机械臂夹持器闭合，已夹住腰带左侧部分；右侧机械臂夹持器闭合，已夹住腰带右侧部分。米色短裤腰带被左右机械臂夹持，短裤主体位于腿部上方，正被向下折叠至腿部。腿部在米色短裤下方，处于左右机械臂下方区域。\nimg2: 左侧机械臂在米色短裤腰带的左侧，右侧机械臂在米色短裤腰带的右侧。左侧机械臂夹持器闭合，已夹住腰带左侧部分；右侧机械臂夹持器闭合，已夹住腰带右侧部分。目标物品米色短裤的腰带部分被左右机械臂共... |
[
{
"content": [
{
"image": "trainset/421/689124/Lower the right arm to put away the cleaned cloth_/00092.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/689124/Lower the right arm to put away the cleaned cloth_/00079.jp... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在放置清洁布的容器左侧，未接触其他物品。右侧机械臂位于放置清洁布的容器正上方，其夹持器闭合，夹住清洁过的布。清洁过的布被右侧机械臂夹持器夹住，处于容器上方。放置清洁布的容器在右侧机械臂下方，在左侧机械臂右侧。左侧机械臂夹持器张开，未夹持任何物品。\nimg2: 左侧机械臂在放置架的左侧，夹持器张开。右侧机械臂在放置架的上方，夹持器闭合。目标物品（cleaned cloth）被右侧机械臂夹持，位于放置架的正上方。放置架位于左右机械臂之间的下方，相对于左侧机械臂... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_001157.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What number of metal things have the same color as the large rubber block?",
... | {
"answer": "1",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__2b279a2b0608ae63de32e644fdd0678f.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What will the ego vehicle's speed be after 1 s... | {
"answer": "After 1 second, the ego vehicle's speed will be 10.75 m/s.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/361/670423/Smooth out a messy green shorts with both arms and spread it flat_/00158.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/670423/Smooth out a messy green shorts with both a... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在绿色短裤的左侧上方，右侧机械臂在绿色短裤的右侧上方。左侧机械臂夹持器闭合，夹住绿色短裤的左侧边缘；右侧机械臂夹持器闭合，夹住绿色短裤的右侧边缘。绿色短裤位于平台上方，平台在左右机械臂的下方。绿色短裤相对于左侧机械臂在其下方，相对于右侧机械臂在其下方；平台相对于左侧机械臂在其下方，相对于右侧机械臂在其下方。\nimg2: 左侧机械臂在绿色短裤左侧边缘上方，右侧机械臂在绿色短裤右侧边缘上方。左侧机械臂夹持器处于闭合状态，已夹住绿色短裤左上角；右侧机械臂夹持器处... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000894.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Does the brown object have the same material as the cyan thing on the right side of t... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/377/657665/Place the air column film into the carton on packaged concentrated coffee liquid_/00124.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/657665/Place the air column film in... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在气柱膜上方，其夹持器闭合（已夹住气柱膜）；右侧机械臂在纸箱右侧，其夹持器张开。目标物品气柱膜被左侧机械臂夹持，位于纸箱上方；纸箱在已包装的浓缩咖啡液上方；已包装的浓缩咖啡液位于左侧机械臂下方、右侧机械臂左下方。\nimg2: 左侧机械臂在气柱膜上方，夹持器闭合（夹住气柱膜）；右侧机械臂在纸箱右侧，夹持器张开。目标物品气柱膜被左侧机械臂夹持，位于纸箱上方；纸箱在包装好的浓缩咖啡液上方，包装好的浓缩咖啡液位于左右机械臂下方。"
} |
[
{
"content": [
{
"image": "trainset/376/673808/Retrieve usb to serial converter from top-left corner of the material frame with the left arm_/00024.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/673808/Retrieve usb to... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于物料框左上角的USB转串口转换器正上方，其夹持器处于闭合状态（已物理接触并夹住目标物品）。右侧机械臂在物料框的右侧，夹持器呈张开状态。目标物品（USB转串口转换器）被左侧机械臂夹持，位于物料框的左上角，物料框在左右机械臂之间的区域。\nimg2: 左侧机械臂位于material frame上方，其末端夹持器处于目标物品（usb to serial converter）正上方；右侧机械臂位于material frame右侧。左侧机械臂夹持器状态为张开，因指... |
[
{
"content": [
{
"image": "trainset/361/670423/Smooth out a messy green shorts with both arms and spread it flat_/00078.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/670423/Smooth out a messy green shorts with both a... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在绿色短裤左侧部分上方，右侧机械臂在绿色短裤右侧部分上方。左侧机械臂夹持器闭合，已物理接触并夹住绿色短裤左侧边缘；右侧机械臂夹持器闭合，已物理接触并夹住绿色短裤右侧边缘。绿色短裤位于左右机械臂之间的工作台表面，处于被双臂向两侧拉伸抚平的状态，工作台在左右机械臂下方。\nimg2: 左侧机械臂在绿色短裤的左侧部分上方，右侧机械臂在绿色短裤的右侧部分上方。左侧机械臂夹持器闭合，夹住绿色短裤的左侧边缘；右侧机械臂夹持器闭合，夹住绿色短裤的右侧边缘。绿色短裤位于工作... |
[
{
"content": [
{
"image": "trainset/365/689398/Retrieve lipstick from right material frame with the right arm_/00073.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/365/689398/Retrieve lipstick from right material frame wi... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在右侧物料架左侧，夹持器张开。右侧机械臂在右侧物料架前方，夹持器闭合，夹住口红。口红位于右侧机械臂夹持器中，原放置于右侧物料架上。右侧物料架在右侧机械臂后方，在左侧机械臂右侧。\nimg2: 左侧机械臂在右侧物料架的左侧，未接触其他物品。右侧机械臂在右侧物料架的前方，其夹持器位于口红的上方。左侧机械臂夹持器状态为张开。右侧机械臂夹持器状态为张开，指尖与口红之间存在间隙。口红位于右侧物料架内部，在右侧机械臂夹持器的下方。右侧物料架在右侧机械臂的旁边。"
} |
[
{
"content": [
{
"image": "trainset/352/662768/Pick up the cheese stick from the fridge with the left arm_/00079.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/662768/Pick up the cheese stick from the fridge with the ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在冰箱开口处前方，位于cheese stick上方；右侧机械臂在冰箱右侧，远离目标物品。左侧机械臂夹持器状态为张开；右侧机械臂夹持器状态为张开。cheese stick位于冰箱内部，靠近开口处，在左侧机械臂下方。冰箱在左侧机械臂后方，在右侧机械臂左侧。任务相关关键物品布局为：冰箱开口朝向左侧机械臂，cheese stick处于冰箱开口附近便于左侧机械臂抓取的位置。\nimg2: 左侧机械臂在冰箱内部奶酪棒的上方，其夹持器正对奶酪棒，指尖与奶酪棒间存在空隙，状... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000934.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a thing that is both on the right side of the big yellow matte object and on... | {
"answer": "cylinder",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/410/676195/Pour the water from the held gray water bottle into the nearby cup_/00063.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/676195/Pour the water from the held gray water bo... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在杯子上方，其夹持器闭合，正夹持着灰色水瓶；右侧机械臂在杯子右侧，其夹持器张开。灰色水瓶被左侧机械臂夹持，位于杯子上方；杯子在左侧机械臂下方，右侧机械臂旁边。关键物品布局为：左侧机械臂持水瓶于杯子上方，右侧机械臂在杯子右侧，杯子处于接收倒水的位置。\nimg2: 左侧机械臂在杯子上方，其夹持器闭合，正夹持着灰色水瓶。右侧机械臂在杯子右侧，其夹持器张开。灰色水瓶位于左侧机械臂夹持器中，杯子在左侧机械臂下方且在右侧机械臂左侧。杯子作为接收倒水的物品，处于灰色水瓶... |
[
{
"content": [
{
"image": "trainset/375/651357/Pass the tea bag with both hands_/00102.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/375/651357/Pass the tea bag with both hands_/00115.jpg",
"image_id": "img2",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在茶包上方，其夹持器状态为闭合，已夹住茶包；右侧机械臂在左侧机械臂右侧，夹持器状态为张开。茶包位于左侧机械臂夹持器中，相对于右侧机械臂在其左侧。茶包下方有一茶杯，茶杯在左侧机械臂和右侧机械臂的下方。\nimg2: 左侧机械臂在茶包左侧上方，右侧机械臂在茶包右侧上方。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈闭合状态且已夹住茶包。茶包位于桌子表面，在左侧机械臂下方和右侧机械臂下方之间，桌子位于左右机械臂下方。"
} |
[
{
"content": [
{
"image": "trainset/376/649843/Pass the smart charger with both hands_/00040.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/649843/Pass the smart charger with both hands_/00048.jpg",
"image_id"... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在智能充电器左侧，右侧机械臂在智能充电器右侧且靠近左侧机械臂。左侧机械臂夹持器张开，右侧机械臂夹持器张开。智能充电器位于左侧机械臂前方和右侧机械臂前方，在工作台上方。工作台位于左右机械臂下方。\nimg2: 左侧机械臂在智能充电器上方，夹持器闭合夹住智能充电器；右侧机械臂在智能充电器右侧，夹持器张开。智能充电器位于左侧机械臂下方、右侧机械臂左侧，且在工作台面上方。工作台面位于左右机械臂下方，智能充电器放置于工作台面中央区域。"
} |
[
{
"content": [
{
"image": "sqa3D/scene0667_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What color is the board that I am writing on?",
"type": "text"
}
],
... | {
"answer": "white",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/361/686806/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00071.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/686806/Smooth out a messy light blue de... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤的左侧，夹持器闭合夹住短裤左边缘；右侧机械臂在浅蓝色牛仔短裤的右侧，夹持器闭合夹住短裤右边缘。浅蓝色牛仔短裤位于左右机械臂之间，下方是工作台（某物品）；工作台在左右机械臂的下方，支撑着短裤。左右机械臂通过夹持短裤两侧边缘向外侧拉伸，使短裤处于被展平的状态。\nimg2: 左侧机械臂在浅蓝色牛仔短裤左侧边缘上方，右侧机械臂在浅蓝色牛仔短裤右侧边缘上方。左侧机械臂夹持器闭合，已夹住短裤左侧边缘；右侧机械臂夹持器闭合，已夹住短裤右侧边缘。浅蓝色牛仔... |
[
{
"content": [
{
"image": "trainset/372/691758/Place the grasped hair conditioner into red canvas tote bag_/00078.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/372/691758/Place the grasped hair conditioner into red canva... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在红色帆布手提袋的左侧，其夹持器状态为张开。右侧机械臂在红色帆布手提袋的上方，其夹持器状态为闭合，正夹持着护发素。目标物品护发素被右侧机械臂夹持，位于红色帆布手提袋的上方。红色帆布手提袋位于右侧机械臂的下方，位于左侧机械臂的右侧。\nimg2: 右侧机械臂夹持器闭合，夹住护发素，其位置在红色帆布手提袋上方。左侧机械臂夹持器张开，位于红色帆布手提袋左侧。目标物品护发素被右侧机械臂夹持，处于红色帆布手提袋正上方。红色帆布手提袋放置于桌面上，位于右侧机械臂下方、左... |
[
{
"content": [
{
"image": "trainset/380/686309/Pick up the air column film outside the cardboard box_/00192.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/686309/Pick up the air column film outside the cardboard box_/... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在纸板箱上方，右侧机械臂在气柱膜旁边。左侧机械臂夹持器张开，右侧机械臂夹持器张开。目标物品气柱膜在纸板箱外面，位于右侧机械臂前方。纸板箱在左侧机械臂下方，气柱膜在纸板箱右侧。\nimg2: 左侧机械臂在气柱膜上方，右侧机械臂在纸箱左侧。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈张开状态。目标物品气柱膜在纸箱外部，位于纸箱右侧，且在左侧机械臂正下方。纸箱在右侧机械臂右侧，位于气柱膜左侧。气柱膜与纸箱相邻，处于可被左侧机械臂抓取的位置。"
} |
[
{
"content": [
{
"image": "trainset/374/668561/Place the held two-pack toothbrushes in the left blue target box_/00036.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/374/668561/Place the held two-pack toothbrushes in the ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于左侧蓝色目标盒上方，其夹持器闭合，夹住两包装牙刷。右侧机械臂在左侧蓝色目标盒右侧，其夹持器张开。目标物品（两包装牙刷）被左侧机械臂夹持，处于左侧蓝色目标盒正上方。左侧蓝色目标盒在右侧机械臂左侧，两包装牙刷位于左侧机械臂夹持器中，与左侧蓝色目标盒上下相对。\nimg2: 左侧机械臂在左侧蓝色目标盒上方，其夹持器闭合，正夹持两包装牙刷；右侧机械臂在左侧蓝色目标盒右侧，其夹持器张开。两包装牙刷位于左侧机械臂夹持器下方，且处于左侧蓝色目标盒开口正上方。左侧蓝色目... |
[
{
"content": [
{
"image": "sqa3D/scene0059_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "How many seat cushions does the couch in front of me have?",
"type": "text"
... | {
"answer": "three",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/352/670620/Push the refrigerator door with the right arm_/00107.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/670620/Push the refrigerator door with the right arm_/00122.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在冰箱主体的左侧，右侧机械臂在冰箱门的前方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品冰箱门在冰箱主体的前方，冰箱门相对于右侧机械臂位于其后方，相对于左侧机械臂位于其右侧。冰箱主体在左侧机械臂的右侧、右侧机械臂的左侧。右侧机械臂前端靠近冰箱门表面，处于可推动的位置。\nimg2: 左侧机械臂在冰箱主体的左侧，右侧机械臂在冰箱门的前方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品冰箱门位于右侧机械臂的前方、冰箱主体的前... |
[
{
"content": [
{
"image": "trainset/362/669822/Grasp the waistband of light blue denim shorts with both hands and fold it down to the legs_/00078.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/669822/Grasp the waistba... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤腰带的左侧，右侧机械臂在腰带的右侧。左侧机械臂夹持器闭合，已夹住腰带左侧；右侧机械臂夹持器闭合，已夹住腰带右侧。浅蓝色牛仔短裤的腰带部分被左右机械臂夹持，腿部部分位于腰带下方，机械臂正将腰带向下折叠至腿部上方。腿部位于短裤下方，左右机械臂在短裤腰带两侧。\nimg2: 左侧机械臂在浅蓝色牛仔短裤的左侧，右侧机械臂在浅蓝色牛仔短裤的右侧。左侧机械臂夹持器闭合，已夹住短裤左侧裤腰；右侧机械臂夹持器闭合，已夹住短裤右侧裤腰。浅蓝色牛仔短裤平铺于工作... |
[
{
"content": [
{
"image": "trainset/361/675485/Smooth out a messy black shorts with both arms and spread it flat_/00073.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/675485/Smooth out a messy black shorts with both a... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在黑色短裤左侧上方，夹持器闭合夹住短裤左侧边缘；右侧机械臂在黑色短裤右侧上方，夹持器闭合夹住短裤右侧边缘。黑色短裤位于工作台上方，工作台在左右机械臂下方。黑色短裤相对于左侧机械臂位于右侧，相对于右侧机械臂位于左侧，左右机械臂从两侧夹持短裤以展开抚平。\nimg2: 左侧机械臂在黑色短裤的左侧上方，右侧机械臂在黑色短裤的右侧上方。左侧机械臂夹持器闭合，已物理接触并夹住黑色短裤的左侧边缘；右侧机械臂夹持器闭合，已物理接触并夹住黑色短裤的右侧边缘。黑色短裤位于某物... |
[
{
"content": [
{
"image": "trainset/362/665636/Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband_/00035.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/36... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤下裤腿的旁边，其夹持器闭合，已夹住下裤腿；右侧机械臂在浅蓝色牛仔短裤腰带的旁边，其夹持器闭合，已夹住腰带。浅蓝色牛仔短裤平铺在工作台表面，工作台位于左右机械臂的下方。目标物品短裤的下裤腿和腰带分别被左右机械臂夹持，上裤腿和腰带部分位于被夹持的下裤腿和腰带的上方，处于待折叠状态。\nimg2: 左侧机械臂位于浅蓝色牛仔短裤下裤腿上方，右侧机械臂位于短裤腰带上方。左侧机械臂夹持器闭合，已夹住下裤腿；右侧机械臂夹持器闭合，已夹住腰带。浅蓝色牛仔短裤... |
[
{
"content": [
{
"image": "trainset/359/689356/Place the refill bottle held in the right arm into the right blue target box_/00084.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/689356/Place the refill bottle held in ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在右侧蓝色目标盒的左侧，其夹持器处于张开状态。右侧机械臂位于右侧蓝色目标盒的上方，其夹持器闭合，正夹住refill bottle。refill bottle在右侧机械臂的夹持下，处于右侧蓝色目标盒的正上方。右侧蓝色目标盒位于右侧机械臂的下方，且在左侧机械臂的右侧。\nimg2: 左侧机械臂位于右侧机械臂左侧，在右侧蓝色目标盒左侧。右侧机械臂持有 refill bottle，其位置在右侧蓝色目标盒上方。左侧机械臂夹持器状态为张开。右侧机械臂夹持器状态为闭合，因... |
[
{
"content": [
{
"image": "sqa3D/scene0366_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "How many sinks can I see?",
"type": "text"
}
],
"role": "user"
... | {
"answer": "two",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_001909.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What material is the object that is both on the left side of the big purple object an... | {
"answer": "rubber",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/421/688455/Grasp the cloth on the table and wipe the stain_/00064.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/688455/Grasp the cloth on the table and wipe the stain_/00070.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于桌子上方，布的正上方；右侧机械臂位于桌子上方，污渍的右侧。左侧机械臂夹持器状态为闭合，已物理接触并夹住布；右侧机械臂夹持器状态为张开，指尖未接触任何物体。目标物品布位于桌子表面，在左侧机械臂正下方；污渍位于桌子表面，在布的右侧，右侧机械臂的左侧。桌子作为基础物体，支撑布和污渍，布与污渍均处于桌子同一平面上。\nimg2: 左侧机械臂在布料上方，右侧机械臂在桌子右侧。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为闭合。目标物品布料位于桌子上方，布料在左... |
[
{
"content": [
{
"image": "trainset/392/650809/Place the transparent water bottle held in the left arm under the faucet_/00044.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/650809/Place the transparent water bottle h... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于水龙头下方，其夹持器闭合，正夹持透明水瓶；右侧机械臂位于左侧机械臂右侧，其夹持器张开。透明水瓶在左侧机械臂夹持下处于水龙头下方，瓶口正对水龙头出水口。水龙头位于左侧机械臂上方、右侧机械臂左上方。\nimg2: 左侧机械臂在水龙头下方，其夹持器闭合，正持有透明水瓶，透明水瓶位于水龙头正下方。右侧机械臂在水龙头右侧，其夹持器张开。水龙头位于左侧机械臂上方，透明水瓶相对于左侧机械臂被夹持，相对于水龙头处于正下方位置，右侧机械臂在水龙头右侧且未接触任务相关物品。... |
[
{
"content": [
{
"image": "sqa3D/scene0178_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the door on my 2 o'clock direction open or closed?",
"type": "text"
}... | {
"answer": "closed",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/376/677619/Pass the usb to serial converter with both hands_/00040.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/677619/Pass the usb to serial converter with both hands_/00052.jpg"... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在USB转串口转换器上方并已夹住该目标物品，夹持器状态为闭合；右侧机械臂在左侧机械臂右侧，夹持器呈张开状态，位于目标物品前方。目标物品被左侧机械臂夹持，处于左右机械臂之间；某物品（工作台）位于左右机械臂下方，目标物品原放置于工作台上，当前已被左侧机械臂从工作台拿起并移向右侧机械臂。\nimg2: 左侧机械臂位于USB to serial converter（目标物品）左侧，其夹持器处于闭合状态，物理接触并夹住目标物品。右侧机械臂位于目标物品右侧，其夹持器处于... |
[
{
"content": [
{
"image": "trainset/376/680103/Retrieve red battery with the right arm from bottom right corner of the material frame_/00076.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/680103/Retrieve red battery w... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于物料框的左侧上方区域。右侧机械臂位于物料框的右下角正上方，其夹持器处于张开状态，夹爪指尖与物料框右下角的红色电池之间存在空隙。红色电池位于物料框的右下角，在右侧机械臂夹持器的正下方。物料框整体位于左右机械臂下方的中间位置，其右下角区域为右侧机械臂的目标操作区域。左侧机械臂夹持器处于闭合状态，未接触任何物品。\nimg2: 左侧机械臂在物料框左侧，其夹持器处于闭合状态（空闲时指尖完全并拢）。右侧机械臂在物料框右下角红色电池上方，其夹持器呈张开状态，指尖与红... |
[
{
"content": [
{
"image": "trainset/361/675137/Smooth out a messy black shorts with both arms and spread it flat_/00016.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/675137/Smooth out a messy black shorts with both a... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在黑色短裤左侧，右侧机械臂在黑色短裤右侧。左侧机械臂夹持器闭合，夹住黑色短裤左边缘；右侧机械臂夹持器闭合，夹住黑色短裤右边缘。黑色短裤平铺在工作台上方，工作台在左右机械臂下方。\nimg2: 左侧机械臂在黑色短裤左侧边缘上方并接触短裤，右侧机械臂在黑色短裤右侧边缘上方并接触短裤。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。黑色短裤位于工作台上方，左右机械臂分别在黑色短裤的左侧和右侧。工作台位于左右机械臂的下方，黑色短裤处于被左右机械臂向两侧拉伸抚平的状态。"... |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__979adbb9c6a2dc08e27ef70d5023586e.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "How far in meters from the ego vehicle will th... | {
"answer": "After 3 seconds, the distance is about 1.23 meters, with the direction of 33 degrees.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/362/671332/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00124.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/671332/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在米色短裤裤腰的左侧，右侧机械臂在米色短裤裤腰的右侧。左侧机械臂夹持器闭合，已夹住裤腰左侧部分；右侧机械臂夹持器闭合，已夹住裤腰右侧部分。米色短裤放置在支撑面上，裤腰位于腿部上方，支撑面在米色短裤下方。左右机械臂夹持裤腰后正将其向下折叠至腿部上方，左右机械臂均在支撑面上方。\nimg2: 左侧机械臂在米色短裤腰带的左侧，右侧机械臂在米色短裤腰带的右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品米色短裤平铺于某平面上，其腰带位于上方，腿部位于下方。米... |
[
{
"content": [
{
"image": "trainset/421/683324/Grasp the cloth on the table and wipe the stain_/00056.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/683324/Grasp the cloth on the table and wipe the stain_/00071.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在桌子上方，其夹持器闭合，已物理接触并夹住布；右侧机械臂在桌子表面污渍的前方，夹持器呈张开状态。布被左侧机械臂夹持，位于桌子上方；污渍在桌子表面，位于左侧机械臂的下方偏右位置。桌子支撑布和污渍，左侧机械臂持布处于可向污渍移动的位置，右侧机械臂未接触任何物品，其张开的夹持器未夹住物体。\nimg2: 左侧机械臂在桌子上的布上方，其夹持器闭合，已夹住布。右侧机械臂在桌子上的污渍右侧，其夹持器张开。布位于桌子表面，污渍在桌子上且在布的右侧。桌子作为基础物品，位于左... |
[
{
"content": [
{
"image": "trainset/361/687460/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00055.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/687460/Smooth out a messy light blue de... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤的左侧，夹持器闭合夹住短裤左边缘；右侧机械臂在浅蓝色牛仔短裤的右侧，夹持器闭合夹住短裤右边缘；浅蓝色牛仔短裤位于工作台上方，工作台在左右机械臂的下方；左右机械臂分别从短裤两侧向外侧拉伸，短裤处于被展开铺平的状态。\nimg2: 左侧机械臂在浅蓝色牛仔短裤的左侧，右侧机械臂在浅蓝色牛仔短裤的右侧。左侧机械臂夹持器闭合，夹住牛仔短裤的左侧边缘；右侧机械臂夹持器闭合，夹住牛仔短裤的右侧边缘。浅蓝色牛仔短裤位于工作台上方，工作台在左右机械臂的下方。左... |
[
{
"content": [
{
"image": "trainset/410/649461/Pour the water from the held white kettle into the nearby cup_/00068.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/649461/Pour the water from the held white kettle into ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 右侧机械臂夹持着白色水壶，其夹持器状态为闭合；左侧机械臂位于杯子左侧，夹持器状态为张开。白色水壶在杯子上方，右侧机械臂正倾斜水壶以向杯子倒水。杯子位于右侧机械臂下方，旁边无其他遮挡物品。左侧机械臂未接触白色水壶或杯子，处于空闲状态。\nimg2: 左侧机械臂在杯子左侧，右侧机械臂在杯子上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为闭合（夹住白色水壶）。目标物品杯子位于右侧机械臂下方、左侧机械臂右侧。白色水壶被右侧机械臂夹持，处于杯子上方。杯子在右侧机械臂下方... |
[
{
"content": [
{
"image": "trainset/368/673223/Press the oven start button with the right arm_/00327.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/368/673223/Press the oven start button with the right arm_/00313.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在烤箱左侧。右侧机械臂在烤箱启动按钮前方，其夹持器末端接触按钮。左侧机械臂夹持器状态为张开。右侧机械臂夹持器状态为张开。烤箱启动按钮位于烤箱正面，在右侧机械臂前方、左侧机械臂右侧。烤箱位于右侧机械臂前方、左侧机械臂右侧。\nimg2: 左侧机械臂在烤箱的左侧，右侧机械臂在烤箱启动按钮的正前方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。烤箱启动按钮位于烤箱正面，烤箱在左侧机械臂的右侧，在右侧机械臂的左侧。"
} |
[
{
"content": [
{
"image": "trainset/352/672619/Place the round bottle yogurt held in the left arm on the table_/00084.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/672619/Place the round bottle yogurt held in the lef... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于桌子上方，其夹持器处于张开状态；右侧机械臂位于桌子右侧，夹持器处于张开状态。目标物品圆瓶酸奶位于左侧机械臂下方，且与桌面接触，处于桌子上方。桌子位于左右两个机械臂的下方。\nimg2: 左侧机械臂在圆瓶酸奶上方，右侧机械臂在桌子右侧。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品圆瓶酸奶位于桌子上，在左侧机械臂下方、右侧机械臂左侧。桌子位于左右两个机械臂的下方。"
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002220.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Do the tiny cylinder and the shiny block have the same color?",
"type": "text... | {
"answer": "yes",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/390/656850/Lift the shampoo on the counter with the left arm_/00057.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/390/656850/Lift the shampoo on the counter with the left arm_/00064.jp... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在洗发水上方，其夹持器闭合，已物理接触并夹住洗发水，洗发水被抬起至柜台上方。右侧机械臂在柜台右侧，其夹持器张开。柜台在左右机械臂下方，作为支撑面。洗发水位于左侧机械臂夹持器内，处于柜台上方；柜台相对于左侧机械臂在下方，相对于右侧机械臂在左侧。\nimg2: 左侧机械臂位于洗发水上方，其夹持器闭合，已物理接触并夹住洗发水；右侧机械臂位于柜台右侧，夹持器呈张开状态。目标物品洗发水被左侧机械臂夹持并抬离柜台表面，位于柜台上方；柜台位于左右机械臂下方，作为支撑面。洗... |
[
{
"content": [
{
"image": "sqa3D/scene0186_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "If I look through the door on my left , what large furniture will I see?",
"ty... | {
"answer": "table",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/359/682760/Retrieve dental floss with the right arm from right material frame_/00070.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/682760/Retrieve dental floss with the right arm f... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在右侧物料架的左侧，其夹持器处于张开状态。右侧机械臂在右侧物料架的前方，其夹持器处于张开状态，指尖与右侧物料架内的牙线之间存在空隙。牙线位于右侧物料架内部，在右侧机械臂夹持器的正下方。右侧物料架在右侧机械臂的后方，在左侧机械臂的右侧。\nimg2: 左侧机械臂在右侧材料架的左侧，夹持器处于张开状态。右侧机械臂在右侧材料架的前方，夹持器张开，其夹爪位于牙线的上方。牙线位于右侧材料架上，在右侧机械臂的下方。右侧材料架在右侧机械臂的后方，在左侧机械臂的右侧。"
} |
[
{
"content": [
{
"image": "trainset/352/666622/Open the refrigerator door with the left arm_/00046.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/666622/Open the refrigerator door with the left arm_/00056.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在冰箱门前方，其夹持器闭合，已物理接触并夹住冰箱门。右侧机械臂在冰箱主体右侧，其夹持器张开，指尖未完全并拢且未接触物体。目标物品冰箱门位于冰箱主体前方，左侧机械臂在冰箱门正前方，右侧机械臂在冰箱门右侧。冰箱主体位于左侧机械臂后方偏右、右侧机械臂后方偏左。关键布局为：冰箱主体居中，冰箱门在其前方，左侧机械臂夹持冰箱门进行操作，右侧机械臂处于空闲状态。\nimg2: 左侧机械臂在冰箱门前方，其夹持器已物理接触并夹住冰箱门，夹持器状态为闭合。右侧机械臂在冰箱右侧，... |
[
{
"content": [
{
"image": "trainset/362/672323/Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband_/00026.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/36... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤下裤腿的上方，其夹持器闭合，已物理接触并夹住下裤腿；右侧机械臂在浅蓝色牛仔短裤腰带的上方，其夹持器闭合，已物理接触并夹住腰带。浅蓝色牛仔短裤位于左右机械臂的下方，且放置在一平面上，该平面位于左右机械臂的下方。短裤的下裤腿和腰带分别被左右机械臂夹持，下裤腿和腰带正处于向短裤上裤腿和腰带方向折叠的过程中。\nimg2: 左侧机械臂位于浅蓝色牛仔短裤下裤腿上方，其夹持器闭合，已夹住下裤腿；右侧机械臂位于短裤腰带上方，夹持器闭合，已夹住腰带。浅蓝色牛... |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.