messages listlengths 1 1 | target dict |
|---|---|
[
{
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{
"image": "CLEVR/CLEVR_train_000160.png",
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},
{
"image": null,
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"text": "There is a yellow ball that is in front of the large green shiny cylinder; what is it... | {
"answer": "rubber",
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} |
[
{
"content": [
{
"image": "trainset/361/677344/Smooth out a messy green shorts with both arms and spread it flat_/00070.jpg",
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{
"image": "trainset/361/677344/Smooth out a messy green shorts with both a... | {
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"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。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品绿色短裤位于工作台上方，且处于左右机械臂之间。工作台在左侧机械臂和右侧机械臂的下方，支撑着绿色短裤。左右机械臂分别从短裤两侧向中间方向操作，夹持器未夹住短裤，呈张开状态以进行抚平动作。\nimg2: 左侧机械臂在绿色短裤左侧上方，右侧机械臂在绿色短裤右侧上方。左侧机械臂夹持器闭合，夹住绿色短裤左边缘；右侧机械臂夹持器闭合，夹住绿色短裤右边缘。... |
[
{
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{
"image": "trainset/380/680297/Pick up red vitamin e lotion_/00092.jpg",
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{
"image": "trainset/380/680297/Pick up red vitamin e lotion_/00104.jpg",
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"t... | {
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"spatial details": "\nimg1: 左侧机械臂在红色维生素E乳液上方，其夹持器闭合，已物理接触并夹住红色维生素E乳液。右侧机械臂在白色乳液瓶右侧，其夹持器张开，夹爪指尖未完全并拢。目标物品红色维生素E乳液位于左侧机械臂夹爪中，白色乳液瓶在红色维生素E乳液右侧，右侧机械臂在白色乳液瓶旁边。\nimg2: 左侧机械臂在红色维生素E乳液上方，其夹持器呈张开状态；右侧机械臂在白色瓶子右侧，夹持器处于闭合状态。目标物品红色维生素E乳液位于左侧机械臂正下方，且在白色瓶子前方。白色瓶子在右侧机械臂左侧。"
} |
[
{
"content": [
{
"image": "trainset/354/656891/Place the held hot pot base into the shopping cart_/00046.jpg",
"image_id": "img1",
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{
"image": "trainset/354/656891/Place the held hot pot base into the shopping cart_/00056.... | {
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"closer to completion": "img2",
"spatial details": "\nimg1: 右侧机械臂位于购物车上方，其夹持器闭合，正夹持着火锅底料；左侧机械臂位于购物车左侧，夹持器张开。火锅底料在右侧机械臂的夹持下处于购物车内部空间的正上方。购物车位于右侧机械臂的下方，同时在左侧机械臂的右侧。整体布局中，右侧机械臂、火锅底料与购物车形成竖直方向的对位关系，左侧机械臂在购物车旁侧处于空闲状态。\nimg2: 右侧机械臂在购物车上方，其夹持器闭合，正夹住hot pot base；hot pot base位于购物车开口正上方，部分进入购物车内部。左侧机械臂在购物... |
[
{
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{
"image": "trainset/368/673137/Pour the seasoning held in the right arm onto the potato on the baking tray_/00096.jpg",
"image_id": "img1",
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{
"image": "trainset/368/673137/Pour the seasoning held in the ri... | {
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"spatial details": "\nimg1: 左侧机械臂位于烤盘左侧，在土豆左上方。右侧机械臂位于烤盘上方，正处于土豆正上方。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。目标物品土豆位于烤盘上，在左侧机械臂右下方、右侧机械臂正下方。烤盘位于左右机械臂下方，承载土豆。\nimg2: 左侧机械臂位于烤盘左侧，右侧机械臂在烤盘和土豆上方。左侧机械臂夹持器张开，右侧机械臂夹持器张开。目标物品土豆位于烤盘上，烤盘在左右机械臂下方。调味料从右侧机械臂夹持器中倾倒，正落向土豆。"
} |
[
{
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"image": "trainset/368/692221/Pour the seasoning held in the right arm onto the corn flakes on the baking tray_/00099.jpg",
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"image": "trainset/368/692221/Pour the seasoning held in t... | {
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"spatial details": "\nimg1: 左侧机械臂在烤盘的左侧，右侧机械臂在烤盘的上方。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（夹住调味料）。调味料位于右侧机械臂的夹持器中，处于烤盘上方。玉米片位于烤盘的表面，烤盘在左右机械臂之间的下方。\nimg2: 左侧机械臂在烤盘左侧，夹持器状态为张开。右侧机械臂在烤盘上方，夹持器状态为闭合，正夹持调味料。调味料位于玉米片上方，玉米片在烤盘表面。烤盘位于左右机械臂之间的下方区域，右侧机械臂的位置使得调味料能够倾倒至玉米片上。"
} |
[
{
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"image": "trainset/359/687369/Pass the toilet cleaner with both hands_/00037.jpg",
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{
"image": "trainset/359/687369/Pass the toilet cleaner with both hands_/00042.jpg",
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"spatial details": "\nimg1: 左侧机械臂在马桶清洁剂左侧，右侧机械臂在马桶清洁剂右侧。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器闭合并夹住马桶清洁剂。马桶清洁剂位于左侧机械臂右侧、右侧机械臂左侧，且在放置面上方。放置面位于左右机械臂下方，马桶清洁剂放置于放置面上。\nimg2: 左侧机械臂在洁厕剂左侧，其夹持器闭合，已物理接触并夹住洁厕剂；右侧机械臂在洁厕剂右侧，其夹持器张开，夹爪指尖未接触物体且存在空隙。洁厕剂位于某物品（如台面）上方，左侧机械臂在洁厕剂左侧并夹住它，右侧机械臂在洁厕剂右侧。某... |
[
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{
"image": "trainset/410/655990/Pour the water from the held tea-colored kettle into the nearby cup_/00034.jpg",
"image_id": "img1",
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{
"image": "trainset/410/655990/Pour the water from the held tea-colored ... | {
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"spatial details": "\nimg1: 右侧机械臂夹持着茶褐色水壶，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。茶褐色水壶在杯子上方，杯子位于右侧机械臂下方。右侧机械臂在杯子上方，左侧机械臂在杯子左侧。水壶相对于右侧机械臂被夹持，杯子相对于右侧机械臂在其下方，整体布局利于将水壶中的水倒入杯子。\nimg2: 左侧机械臂在杯子上方，其夹持器闭合并夹住茶褐色水壶，壶嘴朝向杯子。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夹持，位于杯子正上方；杯子在左侧机械臂下方、右侧机械臂左侧。... |
[
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"image": "trainset/372/689979/Retrieve the sandwich cookies from the table with the right arm_/00100.jpg",
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"image": "trainset/372/689979/Retrieve the sandwich cookies from the table ... | {
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"spatial details": "\nimg1: 左侧机械臂在桌子左侧，位于杯子的右侧，其夹持器状态为闭合。右侧机械臂在三明治饼干的正上方，已夹住三明治饼干，夹持器状态为闭合。三明治饼干在桌子上，位于杯子的右侧，右侧机械臂的下方。杯子在桌子上，位于三明治饼干的左侧，左侧机械臂的左侧。\nimg2: 左侧机械臂在桌子左侧，未接触任何物品。右侧机械臂在桌子上方，位于三明治饼干正上方。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，指尖与三明治饼干之间存在空隙。三明治饼干位于桌子表面，在右侧机械臂正下方，左侧机... |
[
{
"content": [
{
"image": "trainset/367/649840/Pick up the plain toast from the slot after taking the white toaster_/00041.jpg",
"image_id": "img1",
"text": null,
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{
"image": "trainset/367/649840/Pick up the plain toast from the slot af... | {
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"spatial details": "\nimg1: 左侧机械臂在白色烤面包机的插槽上方，右侧机械臂在白色烤面包机的右侧。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。目标普通吐司位于白色烤面包机的插槽中，白色烤面包机位于左侧机械臂的正下方和右侧机械臂的左侧。\nimg2: 左侧机械臂位于白色烤面包机的插槽上方，其夹持器呈张开状态；右侧机械臂位于白色烤面包机的右侧，其夹持器呈闭合状态并夹住白色烤面包机。目标物品普通吐司位于白色烤面包机的插槽内，处于左侧机械臂的正下方。白色烤面包机位于右侧机械臂的左侧，同时在左侧... |
[
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"image": "trainset/359/681904/Pass the pink bagged laundry detergent with both hands_/00035.jpg",
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{
"image": "trainset/359/681904/Pass the pink bagged laundry detergent with both hands... | {
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"spatial details": "\nimg1: 左侧机械臂在粉色袋装洗衣液左侧，右侧机械臂在粉色袋装洗衣液右侧。左侧机械臂夹持器闭合，已物理接触并夹住粉色袋装洗衣液；右侧机械臂夹持器张开，指尖与粉色袋装洗衣液间存在空隙。粉色袋装洗衣液位于左右机械臂之间，其下方有一水平放置的平台，左右机械臂均在平台上方。平台在粉色袋装洗衣液下方，左右机械臂相对于平台均处于上方位置。\nimg2: 左侧机械臂在粉色袋装洗衣液（目标物品）上方，其夹持器闭合，已物理接触并夹住目标物品。右侧机械臂在目标物品右侧，其夹持器张开，指尖与目标物品... |
[
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"content": [
{
"image": "trainset/384/662651/Insert the book held in the right arm into the gap cleared by the left arm on the shelf_/00093.jpg",
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"image": "trainset/384/662651/Insert the book held ... | {
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"spatial details": "\nimg1: 左侧机械臂在书架的空隙左侧，夹持器张开；右侧机械臂在书架空隙前方，夹持器闭合，夹住书。书位于右侧机械臂夹持器中，且正对着书架上由左侧机械臂清理出的空隙。书架位于左右机械臂之间，左侧机械臂贴近书架空隙处，右侧机械臂持书处于插入空隙的预备位置。\nimg2: 左侧机械臂位于书架某层书籍形成的间隙左侧，其夹持器处于张开状态。右侧机械臂位于书架该间隙的正前方，其夹持器处于闭合状态并夹住目标书。目标书在右侧机械臂夹持下，位于书架间隙的正前方且与间隙处于同一高度，处于待插入位置。... |
[
{
"content": [
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"image": "trainset/384/662762/Push aside the books on the shelf with the left arm_/00061.jpg",
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{
"image": "trainset/384/662762/Push aside the books on the shelf with the left arm_/0007... | {
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"spatial details": "\nimg1: 左侧机械臂位于书架上的书的前方，其夹持器处于张开状态；右侧机械臂在书架的右侧，远离书的位置，夹持器也呈张开状态。目标物品书原本在书架中间位置，此时被左侧机械臂推至书架右侧，书仍位于书架上，且在左侧机械臂的右侧。书架位于左右两个机械臂之间，左侧机械臂在书架前方偏左位置，右侧机械臂在书架右侧。\nimg2: 左侧机械臂位于书架上的书的前方，其夹持器处于张开状态；右侧机械臂位于书架的右侧，夹持器处于张开状态。目标物品书初始位于书架的中层，左侧机械臂在书的前方，正推动书使其向... |
[
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"image": "trainset/368/661486/Open the oven door with both hands_/00170.jpg",
"image_id": "img1",
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"type": "image"
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{
"image": "trainset/368/661486/Open the oven door with both hands_/00184.jpg",
"image_id": "img2"... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在烤箱门左侧，右侧机械臂在烤箱门右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品烤箱门位于烤箱主体前方，处于左右机械臂之间。烤箱主体位于左右机械臂后方。左右机械臂分别从烤箱门两侧夹持，共同作用于烤箱门以执行打开动作。\nimg2: 左侧机械臂在烤箱门左侧，右侧机械臂在烤箱门右侧，两者均位于烤箱门前方。左侧机械臂夹持器闭合，已物理接触并夹住烤箱门左侧边缘；右侧机械臂夹持器闭合，已物理接触并夹住烤箱门右侧边缘。目标物品烤箱门位于左右机械臂之间，处于被两... |
[
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"image": "trainset/384/662271/Push aside the books on the shelf with the left arm_/00078.jpg",
"image_id": "img1",
"text": null,
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{
"image": "trainset/384/662271/Push aside the books on the shelf with the left arm_/0009... | {
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"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在书架上的书前方，其夹持器处于张开状态，夹爪与书的侧面接触以推动书。右侧机械臂在书架右侧，夹持器呈张开状态，未接触任何物品。目标物品书位于书架中层，相对于书架原位置已被向右推开约3厘米，书的左侧与左侧机械臂的夹持器接触。书架位于左右机械臂前方，左侧机械臂在书架左侧区域，右侧机械臂在书架右侧区域。\nimg2: 左侧机械臂位于书架上的书的前方，其夹持器处于张开状态，夹爪部分接触书的侧面；右侧机械臂位于书架的右侧，夹持器处于张开状态，未接触任何物品。目标物品书位... |
[
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"text": "Is the door in front of me open or closed?",
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],
... | {
"answer": "closed",
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"text": "What number of other objects are the same shape as the tiny blue rubber object?",
... | {
"answer": "2",
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"image": "trainset/361/677324/Smooth out a messy green shorts with both arms and spread it flat_/00054.jpg",
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"image": "trainset/361/677324/Smooth out a messy green shorts with both a... | {
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"spatial details": "\nimg1: 左侧机械臂在绿色短裤的左侧区域旁边，右侧机械臂在绿色短裤的右侧区域旁边。左侧机械臂夹持器闭合，已物理接触并夹住绿色短裤的左侧边缘；右侧机械臂夹持器闭合，已物理接触并夹住绿色短裤的右侧边缘。绿色短裤位于工作台上方，左右机械臂分别在绿色短裤的左侧和右侧，处于待抚平状态。工作台在左右机械臂的下方，支撑绿色短裤，整体布局显示双臂正从两侧对短裤进行拉伸铺平操作。\nimg2: 左侧机械臂在绿色短裤左侧上方，右侧机械臂在绿色短裤右侧上方。左侧机械臂夹持器闭合，已物理接触并夹住绿色... |
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"content": [
{
"image": "trainset/360/665042/Place the grasped iced tea into gray felt bag with the right arm_/00080.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/360/665042/Place the grasped iced tea into gray felt ba... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在灰色毛毡袋左侧，其夹持器状态为张开。右侧机械臂在灰色毛毡袋上方，其夹持器闭合（夹住冰茶）。目标物品冰茶被右侧机械臂夹持，位于灰色毛毡袋正上方。灰色毛毡袋位于右侧机械臂下方、左侧机械臂右侧。\nimg2: 右侧机械臂在gray felt bag上方，其夹持器闭合，夹住iced tea；iced tea位于gray felt bag开口正上方。左侧机械臂在gray felt bag左侧，其夹持器张开。gray felt bag位于右侧机械臂下方、左侧机械臂右侧... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_001449.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Does the yellow metal cylinder have the same size as the purple rubber block?",
... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/377/670993/Place the air column film into the carton on packaged concentrated coffee liquid_/00162.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/670993/Place the air column film in... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于气柱膜上方，其夹持器闭合，已物理接触并夹住气柱膜；右侧机械臂位于纸箱右侧，其夹持器张开。目标物品气柱膜被左侧机械臂夹持，处于纸箱上方。纸箱位于包装好的浓缩咖啡液上方，包装好的浓缩咖啡液在纸箱下方。左侧机械臂正将夹持的气柱膜移向纸箱开口处，右侧机械臂在纸箱旁处于待命状态。\nimg2: 左侧机械臂夹持气柱膜，位于纸箱上方，其夹持器状态为闭合；右侧机械臂在纸箱右侧，夹持器状态为张开。目标物品气柱膜被左侧机械臂夹持，处于纸箱正上方。纸箱位于包装好的浓缩咖啡液上... |
[
{
"content": [
{
"image": "trainset/372/680529/Place the grasped dishcloth into red canvas tote bag_/00031.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/372/680529/Place the grasped dishcloth into red canvas tote bag_/00... | {
"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，夹持器处于张开状态。右侧机械臂在红色帆布手提袋的上方，夹持器处于闭合状态，其夹爪物理接触并夹住抹布。抹布被右侧机械臂夹持，位于红色帆布手提袋的正上方。红色帆布手提袋位于右侧机械臂的下方、左侧机械臂的右侧。\nimg2: 右侧机械臂在红色帆布手提袋上方，其夹持器闭合，正夹持着抹布；左侧机械臂在红色帆布手提袋左侧，其夹持器张开。目标物品抹布被右侧机械臂夹持，位于红色帆布手提袋上方。红色帆布手提袋位于右侧机械臂下方、左侧机械臂右侧。"
} |
[
{
"content": [
{
"image": "trainset/367/652765/Pick up the whole wheat toast from the slot after taking the white toaster_/00070.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/367/652765/Pick up the whole wheat toast from... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 右侧机械臂夹持器闭合，夹住白色烤面包机，位于操作台右侧上方；左侧机械臂在全麦吐司上方，全麦吐司位于烤面包机原槽位中，槽位在操作台左侧；左侧机械臂夹持器张开，其夹爪正对全麦吐司，处于准备抓取状态；全麦吐司位于左侧机械臂下方，槽位内；白色烤面包机被右侧机械臂夹持，位于左侧机械臂右侧。\nimg2: 左侧机械臂在白色烤面包机右侧，夹持器闭合夹住白色烤面包机；右侧机械臂在插槽上方，夹持器张开，指尖与插槽内的全麦吐司间有空隙；全麦吐司位于插槽中，插槽在白色烤面包机左侧；白色烤面... |
[
{
"content": [
{
"image": "trainset/356/651095/Grab the boxed aerated candy on the table with the right arm_/00052.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/651095/Grab the boxed aerated candy on the table with t... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在桌子左侧，右侧机械臂在盒装充气糖果上方。左侧机械臂夹持器闭合，右侧机械臂夹持器张开。目标物品盒装充气糖果位于桌子上，在右侧机械臂下方，在左侧机械臂右侧。桌子在左右机械臂下方，支撑目标物品，目标物品处于右侧机械臂可抓取范围内。\nimg2: 左侧机械臂位于桌子左侧，其夹持器状态为闭合。右侧机械臂位于盒装充气糖果上方，其夹持器状态为张开。目标物品盒装充气糖果放置在桌子上，位于右侧机械臂正下方、左侧机械臂右侧。桌子作为支撑面，承载盒装充气糖果，右侧机械臂处于目标... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002514.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What size is the other purple ball that is the same material as the small ball?",
... | {
"answer": "large",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/385/680470/Retrieve grapes from the shelf_/00051.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/385/680470/Retrieve grapes from the shelf_/00046.jpg",
"image_id": "img2",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在架子上方，右侧机械臂在葡萄旁边。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。目标物品葡萄位于架子上，在左侧机械臂下方、右侧机械臂前方。架子在左右两个机械臂前方。\nimg2: 左侧机械臂在葡萄上方，右侧机械臂在架子右侧。左侧机械臂夹持器呈张开状态，指尖与葡萄间存在空隙；右侧机械臂夹持器处于闭合状态，指尖完全并拢。目标物品葡萄位于架子上层，葡萄在左侧机械臂正下方，在右侧机械臂左前方。架子位于左右两个机械臂之间，架子上层表面放置有葡萄。关键物品空间... |
[
{
"content": [
{
"image": "trainset/352/667908/Pick up the green tea from the fridge with the left arm_/00078.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/667908/Pick up the green tea from the fridge with the left a... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于冰箱开口处，其夹持器闭合，已物理接触并夹住绿茶。右侧机械臂位于冰箱右侧，夹持器张开。目标物品绿茶被左侧机械臂夹持，处于冰箱内部空间的前方位置。冰箱位于左右机械臂的中间区域，左侧机械臂部分伸入冰箱内部，右侧机械臂在冰箱外部右侧。\nimg2: 左侧机械臂在冰箱前方，其夹持器处于张开状态，夹爪指尖与目标物品绿茶之间存在空隙。右侧机械臂在冰箱右侧，其夹持器处于张开状态。目标物品绿茶位于冰箱内部靠近门的位置，在左侧机械臂的正下方，在右侧机械臂的左前方。冰箱位于左... |
[
{
"content": [
{
"image": "trainset/398/680789/Place the blue long-sleeve shirt held in the left arm into the left gray target box_/00058.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/398/680789/Place the blue long-sleev... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在左侧灰色目标箱上方，其夹持器处于张开状态；右侧机械臂在左侧灰色目标箱右侧，其夹持器处于张开状态。目标物品蓝色长袖衬衫位于左侧灰色目标箱内部，在左侧机械臂下方。左侧灰色目标箱在右侧机械臂左侧。\nimg2: 左侧机械臂在左侧灰色目标箱上方，其夹持器闭合，正夹持着蓝色长袖衬衫，衬衫位于左侧灰色目标箱上方。右侧机械臂在左侧机械臂右侧，其夹持器张开。蓝色长袖衬衫在左侧机械臂夹持下处于左侧灰色目标箱的正上方位置，左侧灰色目标箱位于左侧机械臂的下方。"
} |
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