messages listlengths 1 1 | target dict |
|---|---|
[
{
"content": [
{
"image": "trainset/360/675622/Grasp the bottled ad calcium milk on the table with the right arm_/00068.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/360/675622/Grasp the bottled ad calcium milk on the ta... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在桌子左侧，位于目标物品（瓶装AD钙奶）的左侧。右侧机械臂在目标物品上方，其夹持器正对着目标物品瓶颈。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，夹爪已物理接触并夹住目标物品瓶颈。目标物品（瓶装AD钙奶）位于桌子上，在右侧机械臂正下方，在左侧机械臂右侧。桌子位于左右机械臂下方，承载目标物品。\nimg2: 左侧机械臂在桌子左侧区域，位于目标物品（瓶装AD钙奶）的左侧。右侧机械臂在目标物品的正上方，其夹持器处于闭合状态，已物理接触并夹住瓶装AD钙奶... |
[
{
"content": [
{
"image": "trainset/410/675116/Pour the water from the held golden kettle into the nearby cup_/00035.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/675116/Pour the water from the held golden kettle int... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂持有金色水壶，其位置在杯子的正上方；右侧机械臂位于杯子的右侧。左侧机械臂夹持器状态为闭合，因夹爪已物理接触并夹住金色水壶；右侧机械臂夹持器状态为张开，夹爪未接触物体且指尖存在空隙。金色水壶被左侧机械臂夹持，位于杯子的上方；杯子位于左侧机械臂的下方、右侧机械臂的左侧。金色水壶与杯子的空间布局为水壶在杯子正上方，处于可倾倒水至杯中的位置。\nimg2: 左侧机械臂在杯子上方，其夹持器闭合，正夹持着金色水壶。右侧机械臂在杯子右侧，其夹持器张开。金色水壶被左侧机械臂... |
[
{
"content": [
{
"image": "trainset/354/652716/Retrieve from the shelf_/00032.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/354/652716/Retrieve from the shelf_/00027.jpg",
"image_id": "img2",
"text": null... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在货架上目标物品的正前方，其夹持器呈张开状态，指尖与目标物品间存在空隙；右侧机械臂在目标物品的右后方，位于货架的右侧，夹持器处于闭合状态（空闲时指尖完全并拢）。目标物品位于货架中层，在左侧机械臂的正前方，在右侧机械臂的左前方；货架位于两个机械臂的后方，目标物品在货架的前方。\nimg2: 左侧机械臂位于货架目标物品的正前方，其夹持器闭合，已物理接触并夹住目标物品；右侧机械臂在货架的右侧，夹持器张开，指尖未并拢且未接触任何物体。目标物品被左侧机械臂夹持，原位置... |
[
{
"content": [
{
"image": "trainset/377/650504/Place the air column film into the carton on bath sponge_/00210.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/650504/Place the air column film into the carton on bath sp... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在纸箱上方，其夹持器闭合，正夹持气柱膜；右侧机械臂在浴海绵右侧，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；纸箱位于浴海绵上方，浴海绵在纸箱下方。\nimg2: 左侧机械臂在气柱膜上方，右侧机械臂在纸箱右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器张开。目标物品气柱膜被左侧机械臂夹住，位于纸箱上方。纸箱在浴海绵上方，浴海绵在纸箱下方。"
} |
[
{
"content": [
{
"image": "trainset/362/669739/Grasp the waistband of light blue denim shorts with both hands and fold it down to the legs_/00122.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/669739/Grasp the waistba... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤裤腰的左侧上方，右侧机械臂在裤腰的右侧上方。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。目标物品浅蓝色牛仔短裤的裤腰部分被左右机械臂夹持，腿部部分位于裤腰下方，左右机械臂正将夹持的裤腰向下折叠至腿部上方。\nimg2: 左侧机械臂在浅蓝色牛仔短裤腰带的左侧，右侧机械臂在浅蓝色牛仔短裤腰带的右侧。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。目标物品浅蓝色牛仔短裤的腰带被左右机械臂夹持，短裤的腿部部分在腰带下方，左右机械臂... |
[
{
"content": [
{
"image": "trainset/377/658527/Pick up spicy red duck neck with right arm_/00048.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/658527/Pick up spicy red duck neck with right arm_/00041.jpg",
"i... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在某物品（盘子）左侧，右侧机械臂在目标物品（麻辣鸭脖）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（麻辣鸭脖）在某物品（盘子）上方，位于右侧机械臂下方。某物品（盘子）在左侧机械臂右侧、右侧机械臂下方。右侧机械臂正处于向目标物品靠近的位置，夹持器呈钳形准备抓取，指尖与目标物品间存在空隙。\nimg2: 左侧机械臂在盘子左侧，其夹持器处于闭合状态（空闲时指尖完全并拢）。右侧机械臂在麻辣红鸭脖上方，其夹持器处于张开状态（夹爪呈钳形准备抓取，指尖与鸭脖... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002225.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the number of purple matte objects that are to the right of the brown rubber objec... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/361/683718/Smooth out a messy beige shorts with both arms and spread it flat_/00152.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/683718/Smooth out a messy beige shorts with both a... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在米色短裤左侧边缘处，右侧机械臂在米色短裤右侧边缘处。左侧机械臂夹持器闭合，夹住短裤左侧边缘；右侧机械臂夹持器闭合，夹住短裤右侧边缘。米色短裤位于工作台上方，左右机械臂分别在短裤的左侧和右侧，通过夹持边缘将短裤向两侧拉伸以抚平褶皱。工作台在左右机械臂的下方，支撑短裤。\nimg2: 左侧机械臂在米色短裤左侧上方，右侧机械臂在米色短裤右侧上方。左侧机械臂夹持器闭合，夹爪物理接触并夹住短裤左侧边缘；右侧机械臂夹持器闭合，夹爪物理接触并夹住短裤右侧边缘。目标物品米... |
[
{
"content": [
{
"image": "sqa3D/scene0126_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What type of animal does the two desks resemble to my right?",
"type": "text"
... | {
"answer": "unknown",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/410/676696/Pour the water from the held gray water bottle into the nearby cup_/00098.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/676696/Pour the water from the held gray water bo... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 右侧机械臂夹持着灰色水瓶，其夹持器状态为闭合；灰色水瓶位于杯子上方。左侧机械臂在杯子左侧，其夹持器状态为张开。杯子位于右侧机械臂下方，在左侧机械臂右侧。关键物品空间布局：右侧机械臂持水瓶处于杯子正上方，左侧机械臂在杯子左侧张开，形成倒水操作的空间准备状态。\nimg2: 右侧机械臂在杯子上方，其夹持器闭合，正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、左侧机械臂右侧，处于灰色水瓶的正下方。... |
[
{
"content": [
{
"image": "sqa3D/scene0030_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "How many tables are in the room?",
"type": "text"
}
],
"role": "... | {
"answer": "five",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "sqa3D/scene0417_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What is behind me that I can use to fold laundry?",
"type": "text"
}
... | {
"answer": "tables",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/359/682196/Retrieve dental floss with the right arm from right material frame_/00071.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/682196/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左侧。右侧机械臂在右侧物料架前方，且位于牙线上方。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。目标物品牙线位于右侧物料架上。右侧物料架在右侧机械臂左侧，在左侧机械臂右侧。\nimg2: 左侧机械臂在左侧操作台上方，夹持器张开。右侧机械臂在右侧材料架前方，其夹持器在牙线上方，状态张开。牙线放置于右侧材料架的上层隔板上，右侧材料架在右侧机械臂的左侧。左侧操作台在左侧机械臂的正下方，右侧材料架与左侧操作台沿水平方向并排分布。"
} |
[
{
"content": [
{
"image": "trainset/362/663854/Grasp the waistband of black shorts with both hands and fold it down to the legs_/00064.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/663854/Grasp the waistband of black... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在黑色短裤裤腰的左侧上方，右侧机械臂在黑色短裤裤腰的右侧上方。左侧机械臂夹持器闭合，已物理接触并夹住裤腰左侧部分；右侧机械臂夹持器闭合，已物理接触并夹住裤腰右侧部分。目标物品黑色短裤的裤腰位于上方，裤腿部分位于下方，裤腰相对于左右机械臂处于被夹持的位置，裤腿在裤腰的下方，左右机械臂正夹持裤腰向下折叠至裤腿方向。\nimg2: 左侧机械臂在黑色短裤腰带左侧，右侧机械臂在黑色短裤腰带右侧；左侧机械臂夹持器闭合，右侧机械臂夹持器闭合；黑色短裤腰带部分被左右机械臂夹... |
[
{
"content": [
{
"image": "trainset/354/671465/Retrieve from the shelf_/00003.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/354/671465/Retrieve from the shelf_/00018.jpg",
"image_id": "img2",
"text": null... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在货架中层目标物品前方，右侧机械臂在货架右侧。左侧机械臂夹持器张开，指尖与目标物品间存在空隙；右侧机械臂夹持器闭合，指尖完全并拢。目标物品位于货架中层，在左侧机械臂前方，在右侧机械臂左侧。货架位于两个机械臂之间，左侧机械臂在货架左侧，右侧机械臂在货架右侧。\nimg2: 左侧机械臂在货架前方，位于目标物品左侧；右侧机械臂在目标物品上方，其夹持器闭合，已夹住目标物品。左侧机械臂夹持器张开，处于准备状态。目标物品原在货架中层，现被右侧机械臂夹持并移出至货架前方，... |
[
{
"content": [
{
"image": "trainset/390/649186/Place the barcode scanner back on the counter_/00136.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/390/649186/Place the barcode scanner back on the counter_/00123.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在柜台左侧，夹持器状态为张开；右侧机械臂在柜台上方，夹持器状态为张开。目标物品条码扫描器位于柜台表面，条码扫描器在右侧机械臂正下方，在左侧机械臂右侧。柜台位于左右机械臂下方，是放置条码扫描器的目标平面，条码扫描器已接触柜台表面，处于被放回的目标位置。\nimg2: 左侧机械臂在柜台右侧，右侧机械臂在条形码扫描器上方。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。目标物品条形码扫描器位于柜台上方，其相对于左侧机械臂在左侧，相对于右侧机械臂在下方。柜台... |
[
{
"content": [
{
"image": "trainset/368/679124/Pour the seasoning held in the right arm onto the potato on the baking tray_/00111.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/368/679124/Pour the seasoning held in the ri... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在烤盘左侧，右侧机械臂在土豆和烤盘上方。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（夹住调味料）。目标物品土豆位于烤盘上，烤盘在下方；调味料被右侧机械臂夹持，位于土豆上方。烤盘相对于左侧机械臂在其右侧，相对于右侧机械臂在其下方。\nimg2: 左侧机械臂位于烤盘左侧，其夹持器处于张开状态。右侧机械臂位于烤盘上方，夹持器呈闭合状态以夹住调味料，调味料正处于土豆上方。土豆放置在烤盘上，位于烤盘中央区域。烤盘处于左右机械臂之间的下方位置，右侧机械臂的空... |
[
{
"content": [
{
"image": "trainset/376/650053/Place the ethernet cable held in the right arm into the blue target box on the right_/00102.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/650053/Place the ethernet cable... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在蓝色目标盒的左侧。右侧机械臂在蓝色目标盒的上方。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，因其物理接触并夹住以太网电缆。目标物品以太网电缆被右侧机械臂夹持，位于蓝色目标盒的上方。蓝色目标盒位于右侧机械臂的下方，位于左侧机械臂的右侧。关键物品布局为：蓝色目标盒在右侧，右侧机械臂持电缆位于其上方，左侧机械臂在盒左侧。\nimg2: 左侧机械臂在蓝色目标盒的左侧，其夹持器处于张开状态。右侧机械臂在蓝色目标盒的上方，其夹持器处于闭合状态，正夹持着以太... |
[
{
"content": [
{
"image": "sqa3D/scene0585_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What is on the 6 o'clock of the copier behind me?",
"type": "text"
}
... | {
"answer": "bin",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/392/688131/Lift the object on the table with the left arm_/00024.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/688131/Lift the object on the table with the left arm_/00019.jpg",
... | {
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... | {
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[
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... | {
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"spatial details": "\nimg1: 左侧机械臂在货架前方，目标物品的正上方；右侧机械臂在货架右侧，目标物品的右下方。左侧机械臂夹持器呈张开状态，指尖与目标物品间存在空隙；右侧机械臂夹持器闭合，已物理接触并夹住目标物品。目标物品位于货架中层隔板上，在左侧机械臂正下方、右侧机械臂左上方。货架在左右机械臂的后方，为目标物品提供放置支撑，是任务相关的关键物品。\nimg2: 左侧机械臂位于货架前方，目标物品正上方；右侧机械臂位于货架右侧，目标物品右后方。左侧机械臂夹持器呈张开状态（指尖未接触物体且存在空隙）；右... |
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"spatial details": "\nimg1: 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，夹住短裤左侧边缘；右侧机械臂夹持器闭合，夹住短裤右侧边缘。浅蓝色牛仔短裤位于工作台上方，左右机械臂分别向左右方向施力，将短裤向两侧拉伸，使其处于被抚平并逐渐摊平的状态。\nimg2: 左侧机械臂在浅蓝色牛仔短裤左侧上方，右侧机械臂在浅蓝色牛仔短裤右侧上方。左侧机械臂夹持器闭合，夹住短裤左侧边缘；右侧机械臂夹持器闭合，夹住短裤右侧边缘。浅蓝色牛仔短裤位于工作台上方，工作台在左右机械... |
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{
"image": "trainset/352/666975/Place the boxed iced tea held in the left arm on t... | {
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"spatial details": "\nimg1: 左侧机械臂在桌子上方，其夹持器闭合，正夹持着盒装冰茶；盒装冰茶位于左侧机械臂夹持器中，且处于桌子上方；右侧机械臂在桌子右侧，其夹持器张开；桌子位于左侧机械臂和右侧机械臂的下方。\nimg2: 左侧机械臂位于桌子上方，其夹持器闭合，正持有盒装冰茶。盒装冰茶处于左侧机械臂夹持器下方，且位于桌子上方，未接触桌面。右侧机械臂位于桌子右侧，其夹持器张开，处于空闲状态。桌子位于左侧机械臂下方，同时在右侧机械臂的左侧。目标物品盒装冰茶被左侧机械臂夹持，处于向桌面放置的过程中。"
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"text": "What color is the cylinder that is both in front of the small brown rubber thing and ... | {
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{
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[
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{
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{
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"spatial details": "\nimg1: 左侧机械臂在棕色短裤左侧上方，右侧机械臂在棕色短裤右侧上方。左侧机械臂夹持器闭合，夹住棕色短裤左部；右侧机械臂夹持器闭合，夹住棕色短裤右部。目标物品棕色短裤位于操作平台上，处于左右机械臂之间。操作平台在左右机械臂下方，支撑棕色短裤，整体布局显示双臂正通过夹持短裤两侧进行抚平铺平操作。\nimg2: 左侧机械臂在棕色短裤左侧边缘上方，右侧机械臂在棕色短裤右侧边缘上方。左侧机械臂夹持器闭合，已物理接触并夹住短裤左侧边缘；右侧机械臂夹持器闭合，已物理接触并夹住短裤右侧边缘。... |
[
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"text": "Is there a whiteboard to my left?",
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],
"role": ... | {
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{
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"text": "what is hung on the wall",
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] | {
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"image": "trainset/357/680083/Place the bowl in the dishwasher with the left arm_/00214.jpg",
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{
"image": "trainset/357/680083/Place the bowl in the dishwasher with the left arm_/00203.... | {
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"spatial details": "\nimg1: 左侧机械臂位于洗碗机开口的正上方，其夹持器闭合，正物理接触并夹住碗；碗位于左侧机械臂夹持器中，处于洗碗机开口的正上方。右侧机械臂位于洗碗机的右侧，其夹持器张开，指尖未并拢且未接触任何物体。洗碗机位于左侧机械臂的前方，开口朝上，处于碗的正下方。\nimg2: 左侧机械臂位于洗碗机开口的正上方，其夹持器闭合，正物理接触并夹住碗。右侧机械臂位于洗碗机的右侧，未接触任何物品，其夹持器张开，夹爪指尖未完全并拢。目标物品碗被左侧机械臂夹持，处于洗碗机开口内部的上方，碗的底部接近洗... |
[
{
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{
"image": "trainset/366/657464/Place the white creamer pod held in the left arm into the left blue target box_/00114.jpg",
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{
"image": "trainset/366/657464/Place the white creamer pod he... | {
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"spatial details": "\nimg1: 左侧机械臂位于左侧蓝色目标盒的正上方，其夹持器闭合，夹住白色奶精胶囊；右侧机械臂位于左侧蓝色目标盒的右侧，其夹持器张开。白色奶精胶囊被左侧机械臂夹持，处于左侧蓝色目标盒的上方。左侧蓝色目标盒位于左侧机械臂的下方，右侧机械臂的左侧。\nimg2: 左侧机械臂位于左侧蓝色目标盒的正上方，其夹持器闭合，正夹住白色奶精胶囊；右侧机械臂位于左侧蓝色目标盒的右侧，其夹持器张开。白色奶精胶囊被左侧机械臂夹持，处于左侧蓝色目标盒的正上方。左侧蓝色目标盒在左侧机械臂的下方，右侧机械臂的... |
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... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在杯子上方，其夹持器闭合（已物理接触并夹住杯子）；右侧机械臂在桌子右侧，其夹持器张开。目标物品杯子位于桌子上，在左侧机械臂正下方，在右侧机械臂左侧。桌子在左右机械臂下方，支撑杯子。\nimg2: 左侧机械臂位于杯子正上方，其夹持器闭合（已物理接触并夹住杯子），杯子被抬起至桌子上方一定高度。右侧机械臂位于桌子右侧，其夹持器处于张开状态。桌子位于左右机械臂下方，杯子在左侧机械臂夹持器中，且与桌面无接触，处于桌子上方。"
} |
[
{
"content": [
{
"image": "sqa3D/scene0339_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What is on the left side of the ottoman in front of me?",
"type": "text"
... | {
"answer": "picture",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/440/690211/Place the steam iron held in the right hand back into the slot on the right side of white garment steamer_/00168.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/440/690211/Pla... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于白色挂烫机左侧，其夹持器处于张开状态。右侧机械臂位于白色挂烫机右侧的槽上方，其夹持器闭合，正夹持着蒸汽熨斗。蒸汽熨斗被右侧机械臂夹持，位于槽的正上方。白色挂烫机位于左右机械臂之间，其右侧设有用于放置蒸汽熨斗的槽，槽在右侧机械臂的下方。\nimg2: 左侧机械臂在白色挂烫机左侧，夹持器张开。右侧机械臂在白色挂烫机右侧槽的上方，夹持器闭合，夹住蒸汽熨斗，蒸汽熨斗位于右侧槽的正上方。白色挂烫机位于左右机械臂之间，其右侧槽在挂烫机右侧。目标物品蒸汽熨斗被右侧机械... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000524.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a brown object that is in front of the big brown matte object; how many larg... | {
"answer": "1",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000649.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What number of things are tiny blue cubes or small shiny objects?",
"type": "... | {
"answer": "2",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/362/663646/Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband_/00033.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/36... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于浅蓝色牛仔短裤下裤腿上方，夹持器闭合夹住下裤腿；右侧机械臂位于短裤裤腰上方，夹持器闭合夹住裤腰。浅蓝色牛仔短裤平铺在支撑面上，上裤腿位于下裤腿上方，裤腰位于短裤上部。左右机械臂分别在短裤下裤腿和裤腰旁边，夹持器均闭合，正将下裤腿和裤腰向短裤上裤腿和裤腰方向折叠。\nimg2: 左侧机械臂在浅蓝色牛仔短裤下裤腿的上方，右侧机械臂在浅蓝色牛仔短裤腰带的上方。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。浅蓝色牛仔短裤在左右机械臂的下方... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002582.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is there any other thing that has the same shape as the shiny thing?",
"type"... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/414/676016/Hang the clothes held in the left arm on the left side of wooden clothes hanger_/00055.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/414/676016/Hang the clothes held in the ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于木质衣架左侧前方，其夹持器闭合，夹住衣服；右侧机械臂位于木质衣架右侧旁边，其夹持器张开。衣服被左侧机械臂夹持，处于木质衣架左侧挂钩的正前方；木质衣架垂直放置，位于左右机械臂之间，左侧挂钩朝向左侧机械臂方向。\nimg2: 左侧机械臂在木质衣架的左侧，其夹持器闭合（夹住衣服）。右侧机械臂在木质衣架的右侧，夹持器张开。目标物品（衣服）被左侧机械臂夹持，位于木质衣架左侧的前方。木质衣架位于左右机械臂之间，左侧机械臂正将衣服移向木质衣架的左侧。"
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002199.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What number of other objects are there of the same size as the blue sphere?",
... | {
"answer": "4",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000293.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a thing that is both to the right of the tiny brown cylinder and behind the ... | {
"answer": "sphere",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/366/658760/Place the square bottle coffee held in the left arm into the left blue target box_/00131.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/366/658760/Place the square bottle cof... | {
"answer": null,
"closer to completion": "img2",
"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，正夹住方形瓶装咖啡。右侧机械臂在左侧蓝色目标盒右侧，夹持器张开。方形瓶装咖啡被左侧机械臂夹持，处于左侧蓝色目标盒正上方。左侧蓝色目标盒位于左侧机械臂下方、右侧机械臂左侧。\nimg2: 左侧机械臂位于左侧蓝色目标盒上方，其夹持器闭合，正夹住方形瓶装咖啡。右侧机械臂在左侧机械臂右侧，其夹持器张开。方形瓶装咖啡被左侧机械臂夹持，处于左侧蓝色目标盒正上方。左侧蓝色目标盒在左侧机械臂下方，位于方形瓶装咖啡正下方。"
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002674.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Are there fewer big shiny blocks to the right of the gray matte cylinder than red rub... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "sqa3D/scene0101_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the window visible from the direction I am facing?",
"type": "text"
}... | {
"answer": "yes",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/390/682699/Lift the usb hub on the cashier counter with the left arm_/00027.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/390/682699/Lift the usb hub on the cashier counter with the le... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于usb hub上方，其夹持器闭合，已物理接触并夹住usb hub；右侧机械臂位于cashier counter右侧，其夹持器张开。目标物品usb hub在cashier counter上，被左侧机械臂夹持；cashier counter在左侧机械臂和右侧机械臂的下方。\nimg2: 左侧机械臂在USB hub上方，其夹持器闭合，已物理接触并夹住USB hub。右侧机械臂在收银台右侧，其夹持器张开，未接触任何物品。目标物品USB hub位于左侧机械臂夹持器... |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__addef8fec22a5e359894c5b47499f2ea.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Indicate the velocity of the object at boundin... | {
"answer": "the object at bounding box [1282, 698, 1464, 955]'s speed 3 seconds from now will be 14.95 m/s.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "sqa3D/scene0610_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Can I reach the bottle from where I am standing?",
"type": "text"
}
... | {
"answer": "yes",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002600.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a large cube that is both in front of the brown shiny sphere and to the left... | {
"answer": "metal",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/410/678559/Lift the left arm with golden kettle_/00031.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/678559/Lift the left arm with golden kettle_/00039.jpg",
"image_id": "i... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在金色水壶上方，其夹持器闭合，已物理接触并夹住金色水壶，且处于举起状态。右侧机械臂在金色水壶右侧，其夹持器张开，夹爪指尖未接触任何物体且存在空隙。金色水壶位于左侧机械臂夹持器中，在桌面上方。桌面位于左右机械臂下方，作为支撑面。\nimg2: 左侧机械臂在金色水壶上方，其夹持器闭合，已物理接触并夹住金色水壶。右侧机械臂在左侧机械臂右侧，其夹持器张开，指尖与周围物体无接触且未完全并拢。金色水壶被左侧机械臂夹持，位于某平台上方，某平台在左侧机械臂下方。金色水壶相对... |
[
{
"content": [
{
"image": "trainset/392/682716/Grab the cup brush from the storage box on the counter with the right arm_/00107.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/682716/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柜台上方，其夹持器处于张开状态。右侧机械臂在储物盒正上方，夹持器正对储物盒内的杯刷，此时右侧夹持器处于闭合状态，已物理接触并夹住杯刷。目标物品杯刷位于储物盒内部，储物盒放置在柜台上，储物盒在右侧机械臂下方、左侧机械臂右侧。\nimg2: 左侧机械臂在counter左侧，右侧机械臂在storage box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。目标物品杯刷位于storage box内部，storage box在counter... |
[
{
"content": [
{
"image": "trainset/356/651219/Place the held boxed aerated candy into white plastic bag_/00089.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/651219/Place the held boxed aerated candy into white plast... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在白色塑料袋上方，右侧机械臂在白色塑料袋右侧。左侧机械臂夹持器闭合（夹住盒装充气糖果），右侧机械臂夹持器张开。目标物品（盒装充气糖果）被左侧机械臂夹持，位于白色塑料袋正上方。白色塑料袋位于左侧机械臂下方、右侧机械臂左侧，处于待接收盒装充气糖果的位置。\nimg2: 左侧机械臂在白色塑料 bag 开口正上方，右侧机械臂在白色塑料 bag 右侧。左侧机械臂夹持器闭合，正夹持盒装充气糖果；右侧机械臂夹持器张开。盒装充气糖果位于左侧机械臂夹持下，处于白色塑料 bag... |
[
{
"content": [
{
"image": "sqa3D/scene0158_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the fire extinguisher behind me or in front of me?",
"type": "text"
}... | {
"answer": "behind",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/414/673628/Hang the clothes held in the left arm on the left side of wooden clothes hanger_/00065.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/414/673628/Hang the clothes held in the ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在木质衣架左侧，其夹持器闭合夹住衣物；右侧机械臂在木质衣架右侧，夹持器张开。目标物品衣物被左侧机械臂夹持，位于木质衣架左侧。木质衣架位于左右机械臂之间，左侧机械臂在其左侧，右侧机械臂在其右侧。\nimg2: 左侧机械臂位于木质衣架左侧，其夹持器闭合，正夹住衣服。右侧机械臂在木质衣架右侧，夹持器呈张开状态。目标物品衣服被左侧机械臂夹持，处于木质衣架左侧的前方位置。木质衣架位于左右机械臂之间，左侧机械臂在其左侧，右侧机械臂在其右侧。"
} |
[
{
"content": [
{
"image": "trainset/362/660706/Grasp the lower pant leg and waistband of green shorts and fold them over the upper pant leg and waistband_/00010.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/660706/Gr... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于绿色短裤下裤腿的上方，夹持器闭合，已夹住下裤腿；右侧机械臂位于绿色短裤腰带的上方，夹持器闭合，已夹住腰带。绿色短裤的上裤腿和腰带部分位于工作台表面，下裤腿被左侧机械臂向上提起，腰带被右侧机械臂向上提起，下裤腿和腰带正被移向并靠近上裤腿和腰带部分。工作台位于左右机械臂的下方。\nimg2: {\"描述\": \"左侧机械臂在绿色短裤下裤腿上方，右侧机械臂在绿色短裤裤腰右侧。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（已夹住裤腰）。绿色短裤位于左... |
[
{
"content": [
{
"image": "trainset/421/684623/Lower the cup held in the left arm_/00084.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/684623/Lower the cup held in the left arm_/00076.jpg",
"image_id": "img2"... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在杯子上方，正夹持杯子向下移动；右侧机械臂在杯子右侧，未接触杯子。左侧机械臂夹持器状态为闭合（夹住杯子）；右侧机械臂夹持器状态为张开。目标物品杯子被左侧机械臂夹持，位于桌子上方；桌子在左右机械臂下方，处于杯子将要放置的位置下方。\nimg2: 左侧机械臂在杯子的夹持位置，正将杯子向下方的桌面移动，杯子位于桌面上方。右侧机械臂在杯子的右侧，未接触任何物体。左侧机械臂夹持器状态为闭合（已夹住杯子）。右侧机械臂夹持器状态为张开（未夹住物体且指尖未并拢）。目标物品杯... |
[
{
"content": [
{
"image": "DAQUAR/image1020.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "how many beds are there",
"type": "text"
}
],
"role": "user"
}
] | {
"answer": "2",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/390/659387/Place the barcode scanner back on the counter_/00132.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/390/659387/Place the barcode scanner back on the counter_/00127.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在柜台左侧，右侧机械臂在柜台上方。左侧机械臂夹持器张开，右侧机械臂夹持器张开。目标物品条形码扫描仪位于柜台上，在右侧机械臂下方。柜台位于左右机械臂之间下方，条形码扫描仪在柜台表面。\nimg2: 右侧机械臂在条形码扫描器上方，其夹持器闭合，已物理接触并夹住条形码扫描器。左侧机械臂在柜台左侧，夹持器张开，指尖未并拢且未接触任何物体。目标物品条形码扫描器被右侧机械臂夹持，位于柜台上方。柜台在左右机械臂下方，是任务中放置条形码扫描器的目标位置。"
} |
[
{
"content": [
{
"image": "trainset/356/658604/Place the held dried plum and tangerine peel cake into white plastic bag_/00084.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/658604/Place the held dried plum and tanger... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在白色塑料 bag 上方，其夹持器闭合，正夹持着 dried plum and tangerine peel cake；右侧机械臂在白色塑料 bag 右侧，其夹持器张开。目标物品 dried plum and tangerine peel cake 位于左侧机械臂夹持下，处于白色塑料 bag 正上方。白色塑料 bag 位于左侧机械臂下方、右侧机械臂左侧。\nimg2: 左侧机械臂位于白色塑料 bag 上方，其夹持器处于闭合状态，正夹持着 dried plum... |
[
{
"content": [
{
"image": "trainset/421/679110/Grasp the cloth on the table and wipe the stain_/00066.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/679110/Grasp the cloth on the table and wipe the stain_/00059.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在桌子上方，其夹持器闭合，已物理接触并夹住桌子上的布。右侧机械臂在桌子右侧，夹持器张开，位于污渍上方。布位于桌子表面，被左侧机械臂夹持，污渍在桌子上，位于布的右侧。桌子支撑布和污渍，左侧机械臂在布上方并夹住布，右侧机械臂在污渍上方，准备配合擦拭动作。\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，靠近污渍的位置。左侧机械臂夹持器闭合，已物理接触并夹住布；右侧机械臂夹持器张开，指尖未接触物体且存在空隙。目标物品布位于桌子表面，在污渍... |
[
{
"content": [
{
"image": "trainset/475/701615/Press the left side of the garment with the steam iron held in the right hand_/00089.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/475/701615/Press the left side of the garm... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在衣物右侧旁边，其夹持器处于张开状态。右侧机械臂在衣物左侧上方，其夹持器闭合以持有蒸汽熨斗，蒸汽熨斗底部贴近衣物左侧表面。衣物位于左右机械臂之间的下方，其左侧部分处于右侧机械臂及所持有蒸汽熨斗的正下方。\nimg2: 左侧机械臂在衣物右侧上方，其夹持器张开。右侧机械臂在衣物左侧上方，夹持器闭合夹住蒸汽熨斗，蒸汽熨斗底部接触衣物左侧。衣物平铺于某表面上，该表面位于左右机械臂下方。"
} |
[
{
"content": [
{
"image": "trainset/358/664174/Place the plain toast held in the left arm into the empty slot in front of green toaster_/00053.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/358/664174/Place the plain toas... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于绿色烤面包机前方，其夹持器闭合，持有plain toast，吐司处于绿色烤面包机前的空槽上方。右侧机械臂位于绿色烤面包机右侧，其夹持器张开。绿色烤面包机前的空槽在左侧机械臂下方，目标物品吐司正被左侧机械臂移向该空槽。\nimg2: 左侧机械臂在绿色烤面包机前方的空槽上方，其夹持器状态为闭合，正夹住普通吐司。右侧机械臂在绿色烤面包机右侧，夹持器状态为张开。普通吐司位于左侧机械臂夹持器中，处于空槽正上方。绿色烤面包机前方存在空槽，空槽在左侧机械臂下方，左侧机... |
[
{
"content": [
{
"image": "trainset/385/676632/Place the held onion into the plastic bag in the shopping cart_/00062.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/385/676632/Place the held onion into the plastic bag in t... | {
"answer": null,
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"spatial details": "\nimg1: {\"target\": \"左侧机械臂在购物车左侧，其夹持器处于张开状态。右侧机械臂位于购物车上方，夹持器闭合（夹住洋葱），且右侧机械臂在塑料袋正上方。目标物品洋葱被右侧机械臂夹持，位于塑料袋上方。塑料袋放置在购物车内，购物车在右侧机械臂下方。左侧机械臂在购物车左侧，与塑料袋无直接空间重叠。\"}\nimg2: 右侧机械臂在购物车中塑料袋的上方，其夹持器闭合，正夹持着洋葱；左侧机械臂在购物车的右侧，夹持器张开。洋葱被右侧机械臂夹持，位于塑料袋的正上方。塑料袋位于购物... |
[
{
"content": [
{
"image": "trainset/376/677908/Pass the smart charger with both hands_/00031.jpg",
"image_id": "img1",
"text": null,
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},
{
"image": "trainset/376/677908/Pass the smart charger with both hands_/00036.jpg",
"image_id"... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在智能充电器左侧，夹持器张开；右侧机械臂在智能充电器上方，夹持器闭合夹住智能充电器。智能充电器位于某平台表面，左侧机械臂在智能充电器左侧且略低于右侧机械臂，右侧机械臂夹持智能充电器后处于左侧机械臂前方。某平台在左右机械臂下方，支撑智能充电器及机械臂操作空间。\nimg2: 左侧机械臂在智能充电器上方，其夹持器闭合并夹住智能充电器。右侧机械臂在左侧机械臂右侧，同时位于智能充电器右侧，其夹持器张开，呈准备接收状态。智能充电器被左侧机械臂夹持，处于左右机械臂之间。... |
[
{
"content": [
{
"image": "trainset/362/655370/Grasp the waistband of black shorts with both hands and fold it down to the legs_/00139.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/655370/Grasp the waistband of black... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在黑色短裤腰带左侧上方，右侧机械臂在黑色短裤腰带右侧上方。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。黑色短裤腰带部分位于左右机械臂之间，被夹持；腿部部分在腰带下方。黑色短裤整体在工作台上方，工作台在左右机械臂下方。\nimg2: 左侧机械臂在黑色短裤腰带的左侧，右侧机械臂在黑色短裤腰带的右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。黑色短裤的腰带部分被左右机械臂夹持，位于短裤腿部的上方。短裤腿部位于左右机械臂的下方。"
} |
[
{
"content": [
{
"image": "trainset/380/685598/Place the held crispy potato chips into the cardboard box_/00164.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/685598/Place the held crispy potato chips into the cardboa... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在纸箱上方，其夹持器闭合，夹住目标物品薯片；右侧机械臂在纸箱右侧，其夹持器张开。目标物品薯片被左侧机械臂夹持，位于纸箱上方；纸箱位于左侧机械臂下方、右侧机械臂左侧。\nimg2: {\"描述\": \"左侧机械臂在纸板箱左侧，右侧机械臂在纸板箱上方。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（酥脆薯片）被右侧机械臂夹持，位于纸板箱上方。纸板箱位于右侧机械臂下方、左侧机械臂右侧。\"}"
} |
[
{
"content": [
{
"image": "sqa3D/scene0539_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "How many plants are in front of me?",
"type": "text"
}
],
"role"... | {
"answer": "one",
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[
{
"content": [
{
"image": "trainset/362/650688/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/362/650688/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腰带的左侧，右侧机械臂位于腰带的右侧。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。米色短裤整体位于腿部上方，腰带部分被左右机械臂共同夹持，处于待向下折叠至腿部的状态。腿部位于米色短裤的下方，左右机械臂分别在短裤腰带的左右两侧，夹持器均闭合以固定腰带，为向下折叠动作提供夹持基础。\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，均已物理... |
[
{
"content": [
{
"image": "trainset/359/692204/Retrieve cotton swab from left material frame with the left arm_/00010.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/692204/Retrieve cotton swab from left material frame... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于左侧材料架上方，其夹持器正对材料架内的棉签，处于张开状态；右侧机械臂位于左侧材料架右侧，夹持器呈张开状态。目标物品棉签位于左侧材料架内部，在左侧机械臂夹持器下方。左侧材料架位于左侧机械臂下方、右侧机械臂左侧。\nimg2: 左侧机械臂位于左侧物料架前方，其夹持器闭合，已物理接触并夹住棉签。右侧机械臂位于左侧机械臂右侧，夹持器张开。目标物品棉签被左侧机械臂夹持，位于左侧机械臂夹持器中，原位于左侧物料架内，现被左侧机械臂从左侧物料架中取出。左侧物料架位于左侧... |
[
{
"content": [
{
"image": "trainset/361/666123/Smooth out a messy green shorts with both arms and spread it flat_/00014.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/666123/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，右侧机械臂在绿色短裤右侧。左侧机械臂夹持器闭合，夹住绿色短裤左部；右侧机械臂夹持器闭合，夹住绿色短裤右部。绿色短裤位于工作台表面上方，工作台在左右机械臂下方。绿色短裤整体处于左右机械臂之间，左右机械臂通过夹持短裤两侧进行抚平操作，短裤在工作台表面呈展开状态。\nimg2: 左侧机械臂在绿色短裤的左侧部分上方，夹持器闭合夹住短裤左侧边缘；右侧机械臂在绿色短裤的右侧部分上方，夹持器闭合夹住短裤右侧边缘。绿色短裤位于工作台上方，左右机械臂分别在其左... |
[
{
"content": [
{
"image": "trainset/359/654014/Place the held trash bag into the right blue target box_/00053.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/654014/Place the held trash bag into the right blue target b... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在右侧蓝色目标箱的左侧，其夹持器呈张开状态。右侧机械臂在右侧蓝色目标箱的上方，其夹持器闭合，正夹住垃圾袋。目标物品垃圾袋被右侧机械臂夹持，位于右侧蓝色目标箱的上方。右侧蓝色目标箱位于右侧机械臂的下方，左侧机械臂的右侧。\nimg2: 左侧机械臂在右侧蓝色目标箱的左侧，夹持器张开。右侧机械臂在右侧蓝色目标箱的上方，夹持器闭合。目标物品垃圾袋被右侧机械臂夹持，位于右侧蓝色目标箱的上方。右侧蓝色目标箱在右侧机械臂的下方，在左侧机械臂的右侧。"
} |
[
{
"content": [
{
"image": "trainset/390/658549/Lift the small bag assorted jelly on the counter with the left arm_/00075.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/390/658549/Lift the small bag assorted jelly on the c... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于什锦果冻小袋上方，其夹持器闭合；右侧机械臂在柜台右侧，夹持器张开。什锦果冻小袋在柜台上，处于左侧机械臂下方，在右侧机械臂左侧。柜台位于左侧机械臂下方和右侧机械臂左侧。\nimg2: 左侧机械臂位于small bag assorted jelly上方，其夹持器闭合，已物理接触并夹住该袋子，袋子被抬离counter表面。右侧机械臂位于counter右侧，其夹持器张开，未接触任何物品。small bag assorted jelly处于左侧机械臂夹持器中，位于... |
[
{
"content": [
{
"image": "trainset/385/681289/Retrieve potato from the shelf_/00054.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/385/681289/Retrieve potato from the shelf_/00038.jpg",
"image_id": "img2",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于架子前方，其夹持器处于张开状态；右侧机械臂在架子右侧，夹持器也为张开状态。目标物品土豆放置在架子中层，位于左侧机械臂正前方，右侧机械臂左上方。架子位于左右机械臂之间，土豆下方无其他物品，土豆与左侧机械臂夹持器指尖存在空隙，与右侧机械臂夹持器有一定距离。\nimg2: 左侧机械臂在货架上的土豆正上方，右侧机械臂在货架右侧。左侧机械臂夹持器呈张开状态，指尖与土豆间存在空隙；右侧机械臂夹持器闭合，指尖完全并拢。目标物品土豆位于货架中层，在左侧机械臂正下方，在右... |
[
{
"content": [
{
"image": "trainset/410/652760/Pour the water from the held tea-colored kettle into the nearby cup_/00039.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/652760/Pour the water from the held tea-colored ... | {
"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（夹住茶褐色水壶）；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夹持，位于杯子正上方；杯子在左侧机械臂下方，在右侧机械臂左侧。水壶与杯子的空间布局为水壶在杯子上方，符合倒水动作的空间需求。\nimg2: 左侧机械臂在杯子上方，其夹持器闭合以夹住茶褐色水壶；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夹持，壶嘴朝向杯子；杯子位于左侧机械臂下方，在水壶的正下方。水壶相对于杯子处于上方位置，杯子相对于左侧机械臂处... |
[
{
"content": [
{
"image": "trainset/380/678864/Place the air column film held by left arm onto the items in the carton_/00316.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/678864/Place the air column film held by lef... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于纸箱中物品的上方，其夹持器闭合以夹住气柱膜；右侧机械臂位于纸箱的右侧，夹持器张开。气柱膜被左侧机械臂夹持，处于纸箱中物品的正上方。纸箱中的物品位于纸箱内部，左侧机械臂在其上方，右侧机械臂在其右侧。气柱膜与纸箱中物品的垂直距离较近，显示左侧机械臂正准备将气柱膜放置到物品上。\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，其夹持器张开。气柱膜被左侧机械臂夹持，处于纸箱内物品的正上方位置。纸箱内的物品位于纸... |
[
{
"content": [
{
"image": "trainset/414/676321/Hang the clothes held in the right arm on the right side of plastic hanger_/00214.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/414/676321/Hang the clothes held in the right... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在塑料衣架左侧，右侧机械臂在塑料衣架右侧。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（已夹住衣物）。目标物品衣物被右侧机械臂夹持，位于塑料衣架右侧。塑料衣架在左侧机械臂右侧、右侧机械臂左侧。右侧机械臂正将其夹持的衣物移向塑料衣架右侧，准备进行悬挂操作。\nimg2: 左侧机械臂在塑料衣架的左侧，右侧机械臂在塑料衣架的右侧。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（夹住衣物）。目标物品衣物被右侧机械臂夹持，位于塑料衣架右侧的上方。塑料... |
[
{
"content": [
{
"image": "trainset/384/663526/Lift the horizontally placed book on the shelf with the right arm_/00023.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/663526/Lift the horizontally placed book on the sh... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在书架的左侧，右侧机械臂在水平放置的书的上方。左侧机械臂夹持器处于张开状态，右侧机械臂夹持器处于闭合状态（已物理接触并夹住书）。目标物品书被右侧机械臂夹持器夹住，位于书架层板的上方（已脱离书架表面）。书架位于左右机械臂之间，书原本水平放置于书架的中层。\nimg2: 左侧机械臂在书架的左侧。右侧机械臂在水平放置的书的上方，其夹持器闭合（已夹住书）。目标物品书被右侧机械臂夹持并抬升至书架上方，位于右侧机械臂夹持器中。书架在左侧机械臂的右侧，在右侧机械臂的下方。... |
[
{
"content": [
{
"image": "trainset/362/669572/Grasp the lower pant leg and waistband of green shorts and fold them over the upper pant leg and waistband_/00039.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/669572/Gr... | {
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"spatial details": "\nimg1: 左侧机械臂在绿色短裤下裤腿上方，右侧机械臂在绿色短裤裤腰右侧。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，夹住裤腰。绿色短裤位于左右机械臂之间，上裤腿在下方，下裤腿和裤腰被夹持后正被折叠至上裤腿上方。绿色短裤放置在支撑平面上方，左右机械臂均在支撑平面上方。\nimg2: 左侧机械臂在绿色短裤下裤腿上方，夹持器闭合夹住下裤腿；右侧机械臂在绿色短裤腰带上方，夹持器闭合夹住腰带。绿色短裤平铺于某物品（桌面）上，位于左右机械臂下方。某物品（桌面）在左右机械臂下方，... |
[
{
"content": [
{
"image": "sqa3D/scene0628_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Which direction should I go if I want to take my jacket?",
"type": "text"
... | {
"answer": "backward",
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[
{
"content": [
{
"image": "trainset/440/689903/Place the steam iron held in the right hand back into the slot on the right side of white garment steamer_/00200.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/440/689903/Pla... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在白色挂烫机左侧，右侧机械臂在白色挂烫机右侧槽的上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合（夹住蒸汽熨斗）。目标物品蒸汽熨斗被右侧机械臂夹持，位于白色挂烫机右侧槽的正上方。白色挂烫机位于左侧机械臂右侧、右侧机械臂左侧，其右侧槽处于待放置蒸汽熨斗的位置。\nimg2: 左侧机械臂在白色挂烫机左侧，其夹持器状态为张开。右侧机械臂在白色挂烫机右侧槽的上方，其夹持器闭合，正夹持着蒸汽熨斗。目标物品蒸汽熨斗位于右侧机械臂夹持器中，处于白色挂烫机右侧槽的正上方。白... |
[
{
"content": [
{
"image": "trainset/376/672446/Place the held usb charging cable into the right blue target box_/00066.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/672446/Place the held usb charging cable into the r... | {
"answer": null,
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"spatial details": "\nimg1: 右侧机械臂在右侧蓝色目标盒上方，其夹持器闭合，正夹持着USB充电线；左侧机械臂在右侧蓝色目标盒左侧，其夹持器张开。USB充电线被右侧机械臂夹持，位于右侧蓝色目标盒上方。右侧蓝色目标盒位于右侧机械臂下方，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，其夹持器呈张开状态。右侧机械臂位于右侧蓝色目标盒上方，其夹持器闭合，物理接触并夹住USB充电线。目标物品USB充电线被右侧机械臂夹持，位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，处于待接... |
[
{
"content": [
{
"image": "sqa3D/scene0680_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What is the shape of the table in front of me?",
"type": "text"
}
],... | {
"answer": "square",
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} |
[
{
"content": [
{
"image": "trainset/352/659816/Push the refrigerator door with the right arm_/00156.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/659816/Push the refrigerator door with the right arm_/00145.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在冰箱主体左侧，右侧机械臂在冰箱门前方。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。目标物品冰箱门位于冰箱主体正面，在右侧机械臂前方，左侧机械臂在冰箱门左侧。冰箱主体在左右机械臂前方，右侧机械臂前端接近冰箱门表面，处于推动冰箱门的位置。\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。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈张开状态。目标物品冰箱门位于冰箱主体的前方，且在右侧机械臂的正前方。冰箱主体位于左侧机械臂的右侧和... |
[
{
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{
"image": "sqa3D/scene0295_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is there an odd or even number of doors in front of me?",
"type": "text"
... | {
"answer": "odd",
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[
{
"content": [
{
"image": "trainset/354/660425/Place the held hydrating toner into the shopping cart_/00046.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/354/660425/Place the held hydrating toner into the shopping cart_/... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于购物车左侧，其夹持器处于张开状态。右侧机械臂位于购物车上方，其夹持器处于闭合状态，正夹持着保湿爽肤水。目标物品保湿爽肤水被右侧机械臂夹持，位于购物车上方。购物车位于右侧机械臂下方，是目标物品将要放置的位置。\nimg2: 左侧机械臂在购物车上方，其夹持器闭合，正夹持着保湿爽肤水；右侧机械臂在购物车右侧，其夹持器张开。目标物品保湿爽肤水在左侧机械臂夹持下位于购物车上方，购物车在左侧机械臂下方，相对于右侧机械臂在其左侧。"
} |
[
{
"content": [
{
"image": "trainset/362/669757/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00069.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/669757/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于米色短裤裤腰的左侧上方，夹持器闭合，已夹住裤腰左侧部分；右侧机械臂位于裤腰的右侧上方，夹持器闭合，已夹住裤腰右侧部分。米色短裤的裤腰部分在腿部上方，腿部部分在裤腰下方，左右机械臂正将夹住的裤腰向下折叠至腿部上方位置，裤腰与腿部处于上下相邻状态。\nimg2: 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，已物理接触并夹住米色短裤腰带左侧部分；右侧机械臂夹持器闭合，已物理接触并夹住米色短裤腰带右侧部分。目标物品米... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002139.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a matte cylinder that is right of the green matte sphere; what color is it?"... | {
"answer": "brown",
"closer to completion": null,
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[
{
"content": [
{
"image": "trainset/352/669647/Open the refrigerator door with the left arm_/00044.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/669647/Open the refrigerator door with the left arm_/00033.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"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，开合状态为闭合。右侧机械臂位于冰箱右侧，夹持器处于空闲状态，指尖未完全并拢，开合状态为张开。目标物品冰箱门位于左侧机械臂的夹持范围内，左侧机械臂通过夹持冰箱门执行开门动作，冰箱门相对于右侧机械臂处于左侧位置，右侧机械臂未与冰箱门接触，处于非任务相关位置。\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；右侧机械臂在冰箱右侧，其夹持器张开，夹爪指尖未完全并拢。目标物品冰箱门位于左侧机械... |
[
{
"content": [
{
"image": "trainset/410/679348/Pour the water from the held golden kettle into the nearby cup_/00057.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/679348/Pour the water from the held golden kettle int... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂夹持着金色水壶，其夹持器状态为闭合；左侧机械臂位于杯子上方。右侧机械臂未夹持物品，其夹持器状态为张开；右侧机械臂在杯子右侧。目标物品金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。金色水壶与杯子的空间布局为水壶在杯子上方，处于倒水位置，杯子在水壶下方承接。\nimg2: 左侧机械臂在杯子左侧，右侧机械臂在杯子上方。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器闭合（夹住金色水壶）。目标物品金色水壶被右侧机械臂夹持，位于杯子正上方... |
[
{
"content": [
{
"image": "trainset/359/676409/Pass the makeup cotton pads with both hands_/00049.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/676409/Pass the makeup cotton pads with both hands_/00034.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在化妆棉片上方，夹持器闭合（已夹住化妆棉片）；右侧机械臂在左侧机械臂右侧，夹持器张开（准备接收）。目标物品化妆棉片被左侧机械臂夹持，位于右侧机械臂左侧。盛放化妆棉片的托盘在左侧机械臂下方，托盘位于右侧机械臂左下方。左右机械臂呈传递姿态，左侧持物，右侧张开待接，空间布局利于完成传递任务。\nimg2: 左侧机械臂在化妆棉片上方，右侧机械臂在左侧机械臂右侧且在化妆棉片旁边。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。目标物品化妆棉片位于托盘上，托盘在... |
[
{
"content": [
{
"image": "trainset/384/692509/Lift the horizontally placed book on the shelf with the right arm_/00013.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/692509/Lift the horizontally placed book on the sh... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在书架的左侧旁边。右侧机械臂在水平放置的书的正上方。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（指尖与书之间存在空隙）。目标物品书水平放置在书架上，书位于右侧机械臂的正下方。书架位于左右机械臂之间，书在书架的中间层，左侧机械臂在书架左侧，右侧机械臂在书架前方靠近书的位置。\nimg2: 左侧机械臂在书架左侧，右侧机械臂在书架上水平放置的书的正上方。左侧机械臂夹持器处于张开状态，右侧机械臂夹持器处于闭合状态。目标物品书水平放置在书架上，位于右侧机械... |
[
{
"content": [
{
"image": "trainset/384/686056/Lift the horizontally placed book on the shelf with the right arm_/00011.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/686056/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，未接触书和书架，其夹持器处于张开状态。右侧机械臂位于水平放置的书的两侧，夹持器已物理接触并夹住书，处于闭合状态；目标物品书被右侧机械臂抬起，位于书架上方；书架作为支撑物，原支撑书，现在书在其上方。关键布局：右侧机械臂通过闭合夹持器夹住书并将其抬离书架，左侧机械臂在旁未参与。\nimg2: 左侧机械臂在书架左侧，未接触目标物品。右侧机械臂在水平放置的书的上方，其夹持器闭合，已物理接触并夹住书。目标物品书水平放置在书架上层，书位于右侧机械臂正下方，左... |
[
{
"content": [
{
"image": "trainset/359/687293/Place the held toilet cleaner into the right blue target box_/00064.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/687293/Place the held toilet cleaner into the right blu... | {
"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。右侧机械臂在右侧蓝色目标盒上方，其夹持器处于闭合状态，且夹持有马桶清洁剂。目标物品马桶清洁剂位于右侧机械臂夹持器中，处于右侧蓝色目标盒上方。右侧蓝色目标盒位于右侧机械臂下方，在左侧机械臂右侧。\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，其夹持器处于张开状态。目标物品马桶清洁剂位于右侧蓝色目标盒内部。右侧蓝色目标盒在右侧机械臂正下方，马桶清洁剂在右侧蓝色目标盒... |
[
{
"content": [
{
"image": "trainset/392/685945/Place the water cup held in the left arm back onto the table_/00401.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/685945/Place the water cup held in the left arm back on... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于桌子上方，其夹持器正对着水杯，水杯底部接触桌面。左侧机械臂夹持器处于张开状态。右侧机械臂位于桌子右侧，未接触其他物品，其夹持器处于张开状态。目标物品水杯位于桌子表面，在左侧机械臂正下方。桌子位于左右机械臂下方，支撑水杯。\nimg2: 左侧机械臂位于桌子上方，其夹持器闭合，正夹持着水杯，水杯位于左侧机械臂下方且处于桌子上方。右侧机械臂位于桌子右侧，其夹持器张开且未接触任何物品。桌子位于左侧机械臂和水杯的下方，是水杯待放置的目标位置。水杯作为目标物品，被左... |
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