messages listlengths 1 1 | target dict |
|---|---|
[
{
"content": [
{
"image": "trainset/377/672441/Place the held blue cream into the carton_/00098.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/672441/Place the held blue cream into the carton_/00106.jpg",
"ima... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在纸盒左侧，右侧机械臂在纸盒正上方。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且正夹持着蓝色奶油。目标物品蓝色奶油位于右侧机械臂夹持器中，且处于纸盒开口正上方。纸盒位于左右机械臂之间，其开口朝上。右侧机械臂正将夹持的蓝色奶油向纸盒内部移动，整体布局显示任务处于将蓝色奶油放入纸盒的过程中。\nimg2: 左侧机械臂位于纸盒上方，其夹持器闭合，正夹住蓝色奶油；右侧机械臂位于纸盒右侧，夹持器张开。目标物品蓝色奶油在左侧机械臂夹持下处于纸盒正上方，纸... |
[
{
"content": [
{
"image": "sqa3D/scene0624_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 use another desk?",
"type": "text"
... | {
"answer": "left",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/398/680771/Retrieve blue-black casual trousers from left material frame with the left arm_/00072.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/398/680771/Retrieve blue-black casual tro... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于左侧物料架前方，其夹持器处于张开状态，夹爪正对左侧物料架上的蓝黑色休闲裤。右侧机械臂位于左侧物料架右侧，其夹持器处于张开状态。蓝黑色休闲裤放置于左侧物料架内部，位于左侧机械臂夹持器的下方。左侧物料架位于左侧机械臂的左侧旁边，右侧机械臂在左侧物料架的右侧空间。\nimg2: 左侧机械臂在左侧物料架前方，其夹持器位于蓝黑色休闲裤上方，开合状态为张开；右侧机械臂在左侧物料架右侧，夹持器开合状态为张开。蓝黑色休闲裤放置于左侧物料架上，位于左侧机械臂下方；左侧物料... |
[
{
"content": [
{
"image": "trainset/475/702265/Stretch the left sleeve to the left hem of the garment_/00062.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/475/702265/Stretch the left sleeve to the left hem of the garment... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在衣物的左侧袖子旁边，其夹持器闭合，已夹住左袖子；右侧机械臂在衣物的右侧主体旁边，其夹持器闭合，夹住衣物主体以固定。目标物品左袖子被左侧机械臂向左拉伸，位于左衣摆的左侧且靠近左衣摆；左衣摆处于衣物的左侧边缘位置。衣物平铺于操作平面上，位于左右机械臂之间，左侧机械臂通过夹持左袖子将其向左侧衣摆方向拉伸。\nimg2: 左侧机械臂在服装左侧袖子旁边，其夹持器闭合夹住左侧袖子；右侧机械臂在服装右侧衣摆上方，夹持器闭合夹住服装右侧衣摆。服装位于左右机械臂之间，左侧袖... |
[
{
"content": [
{
"image": "sqa3D/scene0690_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Can the number of cabinets behind me be divided by three?",
"type": "text"
... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/377/652116/Place the air column film into the carton on ethernet cable_/00093.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/652116/Place the air column film into the carton on ethe... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在纸箱上方，其夹持器闭合，夹住气柱膜；右侧机械臂在网线右侧，夹持器张开。气柱膜位于左侧机械臂下方、纸箱正上方；纸箱在网线上方，网线在纸箱下方。左侧机械臂在气柱膜和纸箱上方，右侧机械臂在纸箱右侧、网线旁边。\nimg2: 左侧机械臂在纸箱上方，其夹持器闭合，正夹持着气柱膜。右侧机械臂在以太网电缆右侧，夹持器张开。目标物品气柱膜被左侧机械臂夹持，位于纸箱正上方。纸箱在以太网电缆上方，以太网电缆在纸箱下方。左侧机械臂位置便于将气柱膜放入纸箱，右侧机械臂未接触任务相... |
[
{
"content": [
{
"image": "trainset/384/685785/Push aside the books on the shelf with the left arm_/00063.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/685785/Push aside the books on the shelf with the left arm_/0005... | {
"answer": null,
"closer to completion": "img1",
"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，夹爪指尖未接触书且存在空隙；右侧机械臂位于书架的右侧，夹持器也处于张开状态，未接触任何物品。目标物品书放置在书架的中间层，左侧机械臂在书的左侧前方，正与书的左侧面接触；书架位于左右机械臂之间的后方位置，书相对于左侧机械臂在其右侧，相对于右侧机械臂在其左侧。\nimg2: 左侧机械臂在书架上的书籍前方，其夹持器处于张开状态，夹爪未接触书籍但靠近书籍侧面。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... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_001545.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the number of gray objects less than the number of large matte things?",
"... | {
"answer": "yes",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/367/651311/Place the toast on the plate_/00033.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/367/651311/Place the toast on the plate_/00039.jpg",
"image_id": "img2",
"t... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 右侧机械臂在plate上方，其夹持器闭合（夹住toast）；左侧机械臂在plate左侧，夹持器张开。目标物品toast被右侧机械臂夹持，位于plate上方；plate位于左侧机械臂右侧、右侧机械臂下方。\nimg2: 左侧机械臂位于盘子上方，其夹持器处于张开状态。右侧机械臂在盘子右侧，夹持器也为张开状态。目标物品吐司位于盘子上，吐司在左侧机械臂下方、右侧机械臂左侧。盘子在左侧机械臂下方，同时在右侧机械臂左侧。"
} |
[
{
"content": [
{
"image": "trainset/360/683822/Grab the large bag of potato chips on the table with the right arm_/00029.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/360/683822/Grab the large bag of potato chips on the ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在桌子左侧上方，右侧机械臂在大袋薯片上方。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。目标物品大袋薯片在桌子上，位于右侧机械臂下方、左侧机械臂右侧。桌子在左右机械臂下方，支撑着大袋薯片。右侧机械臂正处于准备抓取大袋薯片的位置，其夹持器未接触目标物品。\nimg2: 左侧机械臂在桌子左侧，位于大袋薯片的左后方；右侧机械臂在大袋薯片正上方，其夹持器正对薯片袋。左侧机械臂夹持器张开；右侧机械臂夹持器张开，指尖与薯片袋之间存在空隙。大袋薯片在桌子上，位于... |
[
{
"content": [
{
"image": "sqa3D/scene0498_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Are kitchen cabinets above or below the sink?",
"type": "text"
}
],
... | {
"answer": "both",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/360/684278/Grab the tea pi on the table with the right arm_/00079.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/360/684278/Grab the tea pi on the table with the right arm_/00084.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在桌子左侧，其夹持器处于张开状态。右侧机械臂在目标茶杯正上方，夹持器呈张开状态，指尖与茶杯之间存在空隙。目标茶杯放置于桌子表面，位于右侧机械臂正下方，同时在左侧机械臂的右侧。桌子位于左右两个机械臂的下方，支撑着茶杯。\nimg2: 左侧机械臂在table的左侧，右侧机械臂在tea pi的上方。左侧机械臂夹持器状态为闭合，右侧机械臂夹持器状态为张开。目标物品tea pi在table的上方，位于右侧机械臂的下方和左侧机械臂的右侧。table位于左右机械臂的下方。... |
[
{
"content": [
{
"image": "sqa3D/scene0685_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What is mounted behind me to the right that is red?",
"type": "text"
}
... | {
"answer": "tank",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/352/655752/Open the refrigerator door with the left arm_/00034.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/655752/Open the refrigerator door with the left arm_/00047.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在冰箱门前方，其夹持器闭合夹住冰箱门把手；右侧机械臂在冰箱右侧，夹持器张开未接触任何物体。冰箱门位于左侧机械臂前方并被其夹持，冰箱本体位于左右机械臂后方，右侧机械臂在冰箱右侧。\nimg2: 左侧机械臂在冰箱门前方，其夹持器闭合，夹住冰箱门的门柄；右侧机械臂在冰箱主体右侧，其夹持器张开。目标物品冰箱门在左侧机械臂前方，相对于冰箱主体处于半开状态，位于冰箱主体前方。冰箱主体在左侧机械臂后方、右侧机械臂左侧。"
} |
[
{
"content": [
{
"image": "trainset/392/672561/Place the transparent water bottle held in the left arm back onto the table_/00435.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/672561/Place the transparent water bottl... | {
"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，正夹持透明水瓶，水瓶底部位于桌子上方且接近桌面。右侧机械臂在桌子右侧，未接触水瓶，其夹持器张开。透明水瓶位于左侧机械臂下方、桌子上方，桌子位于左右机械臂下方。\nimg2: 左侧机械臂位于透明水瓶上方，其夹持器处于张开状态；右侧机械臂位于桌子右侧，夹持器呈张开状态。透明水瓶已放置在桌子上，位于左侧机械臂正下方。桌子作为支撑面，透明水瓶直接置于其表面，左侧机械臂在水瓶上方且未接触水瓶，右侧机械臂在桌子右侧未靠近水瓶。"
} |
[
{
"content": [
{
"image": "trainset/352/670637/Push the refrigerator door with the right arm_/00127.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/670637/Push the refrigerator door with the right arm_/00116.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于冰箱主体的左侧，远离冰箱门；右侧机械臂位于冰箱门的前方，其臂部接触并推动冰箱门。左侧机械臂夹持器张开；右侧机械臂夹持器张开。目标物品冰箱门位于右侧机械臂的前方，位于冰箱主体的前侧；冰箱主体位于左侧机械臂的右侧和右侧机械臂的后方。\nimg2: 左侧机械臂在冰箱左侧，其夹持器闭合；右侧机械臂在冰箱门前方，其夹持器张开，且右侧机械臂的夹爪与冰箱门表面接触；目标物品冰箱门位于右侧机械臂前方，位于左侧机械臂右侧；冰箱位于左侧机械臂右侧、右侧机械臂后方，整体布局中... |
[
{
"content": [
{
"image": "trainset/374/668525/Place the held two-pack toothbrushes in the left blue target box_/00024.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/374/668525/Place the held two-pack toothbrushes in the ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在左侧蓝色目标盒上方，其夹持器状态为张开。右侧机械臂在左侧蓝色目标盒右侧，其夹持器状态为张开。目标物品两包装牙刷位于左侧蓝色目标盒内部，在左侧机械臂下方。左侧蓝色目标盒在左侧机械臂下方，在右侧机械臂左侧。\nimg2: 右侧机械臂在左侧蓝色目标盒上方，其夹持器张开；左侧机械臂在左侧蓝色目标盒右侧，其夹持器闭合。两包装牙刷位于左侧蓝色目标盒内部，左侧蓝色目标盒在右侧机械臂下方、左侧机械臂左侧。"
} |
[
{
"content": [
{
"image": "trainset/356/662916/Place the held red vitamin e lotion into white plastic bag_/00095.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/662916/Place the held red vitamin e lotion into white pla... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在白色塑料袋左侧，右侧机械臂在白色塑料袋上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。目标物品红色维生素E乳液在右侧机械臂夹持下位于白色塑料袋内部，白色塑料袋在左侧机械臂右侧、右侧机械臂下方。\nimg2: 右侧机械臂在白色塑料袋上方，其夹持器闭合，正夹持着红色维生素E乳液；红色维生素E乳液位于白色塑料袋上方。左侧机械臂在白色塑料袋左侧，其夹持器张开。白色塑料袋位于左侧机械臂右侧、右侧机械臂下方。"
} |
[
{
"content": [
{
"image": "trainset/361/683089/Smooth out a messy black shorts with both arms and spread it flat_/00027.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/683089/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的左侧上方，右侧机械臂位于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。目标物品黑色短裤位于左右两个机械臂的下方，且黑色短裤平铺在工作台表面，工作台位于左右两个机械臂的下方。\nimg2: 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，已夹住黑色短裤左侧边缘；右侧机械臂夹持器闭合，已夹住黑色短裤右侧边缘。黑色短裤位于左右机械臂之间... |
[
{
"content": [
{
"image": "trainset/368/678988/Open the oven door with both hands_/00152.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/368/678988/Open the oven door with both hands_/00162.jpg",
"image_id": "img2"... | {
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"spatial details": "\nimg1: 左侧机械臂在书架上的书的前方，其夹持器处于张开状态；右侧机械臂在书架的右侧，夹持器处于张开状态。目标物品书位于书架的中层，书在左侧机械臂的后方，左侧机械臂正推动书向书架的右侧移动。书架位于左右两个机械臂的前方，书相对于右侧机械臂在其左侧。\nimg2: 此字段内容需基于实际图片观察。假设图片中：左侧机械臂在书架上的书的前方，其夹持器处于张开状态；右侧机械臂在书架的右侧，夹持器处于张开状态。书架上的书在左侧机械臂的前方，书在书架的中层位置。书架在左侧机械臂和右侧机械臂的... |
[
{
"content": [
{
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"image_id": null,
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"type": "image"
},
{
"image": null,
"image_id": null,
"text": "How many monitors are in front of me on desk?",
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}
],
... | {
"answer": "two",
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"content": [
{
"image": "trainset/421/686405/Grasp the cloth on the table and wipe the stain_/00045.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/686405/Grasp the cloth on the table and wipe the stain_/00052.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，已夹住布；布位于桌子表面，污渍在布的右侧；右侧机械臂在污渍上方，夹持器张开。桌子作为基础平面，布和污渍均处于桌子表面，左侧机械臂通过闭合夹持器固定布，右侧机械臂处于张开状态，未接触任何物体。\nimg2: 左侧机械臂在布的上方，右侧机械臂在污渍的前方。左侧机械臂夹持器呈张开状态，夹爪指尖与布之间存在空隙；右侧机械臂夹持器为张开状态。目标物品布位于桌子的表面，污渍位于桌子的表面且在布的右侧。桌子位于左右两个机械臂的下方，布在污渍的左侧... |
[
{
"content": [
{
"image": "trainset/352/672845/Pick up the round bottle yogurt from the fridge with the left arm_/00058.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/672845/Pick up the round bottle yogurt from the fr... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于冰箱开口前方，其夹持器在圆瓶酸奶的正前方，夹持器状态为张开（指尖与酸奶瓶间存在空隙）。右侧机械臂位于冰箱右侧，夹持器状态为闭合（空闲时指尖完全并拢）。目标物品圆瓶酸奶位于冰箱内部底层，在左侧机械臂夹持器的正后方。冰箱位于左侧机械臂的后方，右侧机械臂的左侧。\nimg2: 左侧机械臂位于冰箱内部，其夹持器在圆瓶酸奶前方；右侧机械臂在冰箱右侧，远离目标区域。左侧机械臂夹持器闭合，已物理接触并夹住圆瓶酸奶；右侧机械臂夹持器张开。圆瓶酸奶位于冰箱内部架子上，处于... |
[
{
"content": [
{
"image": "sqa3D/scene0571_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the lid on the toilet in front of up or down?",
"type": "text"
}
... | {
"answer": "up",
"closer to completion": null,
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} |
[
{
"content": [
{
"image": "trainset/362/654729/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00059.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/654729/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旁边，右侧机械臂在米色短裤腰带的右侧旁边；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，短裤的腿部部分位于腰带下方；米色短裤整体处于左右机械臂之间，腰带在上，腿部在下，左右机械臂正将腰带向下折叠至腿部方向。\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。目标物品米色短裤的裤腰被左右机械臂夹持，短裤主体位于腿部上... |
[
{
"content": [
{
"image": "trainset/422/691267/Lift the air column film from the table with the right arm_/00014.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/422/691267/Lift the air column film from the table with the r... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在气柱膜左侧，位于桌子上方；右侧机械臂在气柱膜正上方，其夹持器已物理接触并夹住气柱膜。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。目标物品气柱膜被右侧机械臂夹持并抬离桌面，位于桌子上方；桌子作为支撑物，位于左右机械臂下方，气柱膜原放置于桌面上。\nimg2: 左侧机械臂在桌子左侧上方，其夹持器处于张开状态。右侧机械臂在桌子上方，位于气柱膜正上方，其夹持器已物理接触并夹住气柱膜，处于闭合状态。目标物品气柱膜被右侧机械臂夹持，位于桌子上方（已离开桌面... |
[
{
"content": [
{
"image": "trainset/374/648558/Place the held pink toothbrush cup in the left blue target box_/00051.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/374/648558/Place the held pink toothbrush cup in the left... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂位于粉色牙刷杯和左侧蓝色目标盒的正上方，其夹持器闭合，夹住粉色牙刷杯；右侧机械臂位于左侧蓝色目标盒的右侧，夹持器张开。粉色牙刷杯被左侧机械臂夹持，处于左侧蓝色目标盒的正上方；左侧蓝色目标盒在粉色牙刷杯的下方，位于左右机械臂之间，左侧机械臂在左侧蓝色目标盒的正上方，右侧机械臂在左侧蓝色目标盒的右侧。\nimg2: 右侧机械臂在左侧蓝色目标盒上方，其夹持器闭合，正夹持粉色牙刷杯；粉色牙刷杯位于左侧蓝色目标盒上方。左侧机械臂在左侧蓝色目标盒左侧，其夹持器张开。左侧... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_001766.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "How many matte blocks are behind the large metallic object behind the small matte blo... | {
"answer": "2",
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[
{
"content": [
{
"image": "trainset/422/687189/Place the air column film into the logistics box above the product with the right arm_/00180.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/422/687189/Place the air column fi... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在产品左侧，其夹持器处于张开状态。右侧机械臂在物流箱上方，夹持器闭合夹住气柱膜，气柱膜位于物流箱内部上方。物流箱在产品上方，产品在物流箱下方。气柱膜被右侧机械臂夹持，位于物流箱内部；产品位于左侧机械臂右侧、右侧机械臂下方。\nimg2: 左侧机械臂在产品右侧，右侧机械臂在物流箱上方。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（夹住气柱膜）。目标物品气柱膜被右侧机械臂夹持，位于物流箱上方。物流箱在产品上方，产品在物流箱下方。左侧机械臂在物流箱左侧，... |
[
{
"content": [
{
"image": "trainset/377/649037/Place the air column film into the carton on dried plum and tangerine peel cake_/00178.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/649037/Place the air column film int... | {
"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，夹住气柱膜，气柱膜位于纸箱开口正上方。右侧机械臂在纸箱右侧，其夹持器张开。纸箱内装有陈皮梅蛋糕，纸箱位于左侧机械臂正下方、右侧机械臂左侧。\nimg2: 左侧机械臂在陈皮梅蛋糕左侧，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。目标物品空气柱薄膜被右侧机械臂夹持，位于纸箱上方。纸箱在陈皮梅蛋糕上方，陈皮梅蛋糕在纸箱下方。右侧机械臂位于空气柱薄膜与纸箱之间，左侧机械臂在陈皮梅蛋糕旁边。"
} |
[
{
"content": [
{
"image": "trainset/376/653908/Place the dp audio-video high-definition cable held in the right arm into the blue target box on the right_/00108.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/653908/Pl... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在蓝色目标盒左侧，夹持器张开。右侧机械臂在蓝色目标盒上方，夹持器闭合，夹住dp音视频高清线缆。目标物品dp音视频高清线缆被右侧机械臂夹持，位于蓝色目标盒上方。蓝色目标盒在右侧机械臂下方，右侧机械臂正将线缆向盒内移动。\nimg2: 左侧机械臂位于dp audio-video high-definition cable的左侧，右侧机械臂位于蓝色目标盒的上方。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（夹住dp线缆）。目标物品dp线缆被右侧机械臂夹持... |
[
{
"content": [
{
"image": "trainset/384/657179/Push aside the books on the shelf with the left arm_/00063.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/657179/Push aside the books on the shelf with the left arm_/0005... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于书架上的书的前方，其末端接触书的侧面。右侧机械臂位于书架的右侧，未接触书籍。左侧机械臂夹持器处于张开状态，夹爪未夹住物体。右侧机械臂夹持器处于张开状态，指尖存在空隙。目标物品书籍位于书架的水平层板上，书籍在左侧机械臂的后方，在右侧机械臂的左侧。书架位于左右机械臂之间，左侧机械臂靠近书架左侧的书籍，书籍在书架层板上未完全被推至边缘。\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，其夹持器处于张开状态。书位于书... |
[
{
"content": [
{
"image": "trainset/380/662124/Pick up wet wipes with right arm_/00135.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/662124/Pick up wet wipes with right arm_/00149.jpg",
"image_id": "img2",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在湿纸巾左侧，右侧机械臂在湿纸巾上方。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。目标物品湿纸巾位于右侧机械臂下方，且在某物品（如桌面）上方。某物品（桌面）在左右两个机械臂下方，支撑湿纸巾。右侧机械臂通过闭合的夹持器物理接触并夹住湿纸巾，处于完成“Pick up wet wipes with right arm”任务的状态。\nimg2: 左侧机械臂在湿纸巾左侧，其夹持器处于张开状态。右侧机械臂位于湿纸巾上方，夹持器已物理接触并夹住湿纸巾，状态为... |
[
{
"content": [
{
"image": "sqa3D/scene0272_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 dresser that is on my right?",
"type": "text"
... | {
"answer": "chair",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/358/682213/Lift a piece of white toaster from the basket with the left arm_/00028.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/358/682213/Lift a piece of white toaster from the basket... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在白色烤面包机上方，其夹持器闭合，已物理接触并夹住白色烤面包机；右侧机械臂在篮子右侧，其夹持器张开。白色烤面包机位于篮子上方（被左侧机械臂抬起），篮子在左侧机械臂下方。篮子相对于右侧机械臂在左侧，白色烤面包机相对于右侧机械臂在左侧且上方。\nimg2: 左侧机械臂位于篮子上方，其夹持器闭合，已物理接触并夹住白色烤面包机。右侧机械臂位于篮子右侧，其夹持器张开。白色烤面包机被左侧机械臂夹持，处于篮子上方。篮子位于左侧机械臂下方，右侧机械臂左侧。"
} |
[
{
"content": [
{
"image": "sqa3D/scene0492_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the amount of sink behind me odd or even?",
"type": "text"
}
],
... | {
"answer": "odd",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/414/682179/Hang the clothes held in the right arm on the right side of wooden clothes hanger_/00153.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/414/682179/Hang the clothes held in th... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在木质衣架的左侧，其夹持器状态为张开。右侧机械臂在木质衣架的右侧，其夹持器状态为闭合，正夹持着衣物。目标物品衣物位于右侧机械臂的夹持器中，处于木质衣架右侧的位置。木质衣架位于左右两个机械臂之间，右侧机械臂夹持的衣物靠近木质衣架的右侧，处于待悬挂状态。\nimg2: 左侧机械臂在木质衣架左侧，右侧机械臂在木质衣架右侧。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，位于木质衣架右侧且靠近衣架。木质衣架位于左右机... |
[
{
"content": [
{
"image": "trainset/410/652166/Pour the water from the held white kettle into the nearby cup_/00037.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/652166/Pour the water from the held white kettle into ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在杯子左侧，夹持器状态为张开。右侧机械臂在杯子上方，其夹持器闭合，正夹住白色水壶。白色水壶位于杯子正上方，壶嘴朝向杯子开口。杯子在右侧机械臂下方，同时在左侧机械臂右侧。关键物品布局：右侧机械臂持白色水壶悬于杯子正上方，杯子处于两机械臂之间偏右位置，左侧机械臂在杯子左侧未夹持物品。\nimg2: 右侧机械臂持有白色水壶，夹持器闭合，其位置在杯子上方，壶嘴朝向杯子；左侧机械臂位于杯子左侧，夹持器张开。杯子在右侧机械臂下方，白色水壶在右侧机械臂夹持下处于杯子正上方... |
[
{
"content": [
{
"image": "trainset/359/653521/Place the held plastic storage bin into the right blue target box_/00077.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/653521/Place the held plastic storage bin into the... | {
"answer": null,
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[
{
"content": [
{
"image": "trainset/358/660811/Place the whole wheat toast held in the left arm into the empty slot in front of white toaster_/00079.jpg",
"image_id": "img1",
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},
{
"image": "trainset/358/660811/Place the whol... | {
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"spatial details": "\nimg1: 左侧机械臂位于白色烤面包机上方，其夹持器闭合，正夹住全麦吐司；右侧机械臂位于白色烤面包机右侧，夹持器张开。全麦吐司处于左侧机械臂夹持器中，位于白色烤面包机空槽的正上方。白色烤面包机位于左右两个机械臂前方，其空槽朝上，处于待放置全麦吐司的位置。\nimg2: 左侧机械臂在白色烤面包机上方，且靠近其前方的空槽。右侧机械臂在白色烤面包机右侧。左侧机械臂夹持器状态为闭合（夹住全麦吐司）。右侧机械臂夹持器状态为张开。目标物品全麦吐司被左侧机械臂夹持，位于白色烤面包机的空槽正上方... |
[
{
"content": [
{
"image": "trainset/410/680622/Pour the water from the held golden kettle into the nearby cup_/00043.jpg",
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},
{
"image": "trainset/410/680622/Pour the water from the held golden kettle int... | {
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"spatial details": "\nimg1: 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，夹持器张开。金色水壶（目标物品）位于左侧机械臂的夹持器中，且在杯子上方；杯子位于左侧机械臂下方、右侧机械臂左侧。任务相关的金色水壶和杯子的空间布局为水壶在杯子上方，便于倒水动作进行。\nimg2: 左侧机械臂在杯子上方，其夹持器闭合，正物理接触并夹住金色水壶；右侧机械臂在杯子右侧，夹持器张开，指尖未并拢且未接触任何物体。金色水壶作为目标物品，被左侧机械臂夹持，壶嘴朝向杯子，位于杯子正上方；杯子... |
[
{
"content": [
{
"image": "trainset/374/648883/Place the held blue hand cream in the left blue target box_/00044.jpg",
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"text": null,
"type": "image"
},
{
"image": "trainset/374/648883/Place the held blue hand cream in the left blue ta... | {
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"spatial details": "\nimg1: 左侧机械臂在左侧蓝色目标盒上方，右侧机械臂在左侧蓝色目标盒右侧。左侧机械臂夹持器闭合，夹住蓝色护手霜，蓝色护手霜位于左侧机械臂夹持器下方且在左侧蓝色目标盒上方。左侧蓝色目标盒位于左侧机械臂正下方、右侧机械臂旁边。右侧机械臂夹持器张开。\nimg2: 左侧机械臂在左侧蓝色目标盒的左侧，其夹持器处于张开状态。右侧机械臂在左侧蓝色目标盒的上方，其夹持器处于闭合状态，正夹持着蓝色护手霜。蓝色护手霜（目标物品）被右侧机械臂夹持，位于左侧蓝色目标盒的正上方。左侧蓝色目标盒放置于工... |
[
{
"content": [
{
"image": "trainset/362/654742/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00076.jpg",
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},
{
"image": "trainset/362/654742/Grasp the waistband of beige... | {
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"spatial details": "\nimg1: 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，已夹住短裤腰部左侧；右侧机械臂夹持器闭合，已夹住短裤腰部右侧。米色短裤腰部位于左右机械臂之间，腿部朝向下方且在支撑平面上方，支撑平面在左右机械臂下方。\nimg2: 左侧机械臂位于米色短裤腰带的左侧，右侧机械臂位于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。米色短裤的腰带部分被左右机械臂夹持，短裤的腿部部分位于腰带的下方，左右机械臂在腿部的上方。"
} |
[
{
"content": [
{
"image": "trainset/376/674214/Retrieve usb to serial converter from top-left corner of the material frame with the left arm_/00005.jpg",
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{
"image": "trainset/376/674214/Retrieve usb to... | {
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"spatial details": "\nimg1: 左侧机械臂位于物料架左上角目标物品（USB to serial converter）的上方，其夹持器处于张开状态；右侧机械臂位于物料架的右侧，夹持器同样处于张开状态。目标物品（USB to serial converter）位于物料架的左上角，在左侧机械臂的正下方，在右侧机械臂的左侧；物料架位于左侧机械臂的前方，位于右侧机械臂的左侧。\nimg2: 左侧机械臂位于material frame左上角的usb to serial converter上方，其夹持器处于张开状... |
[
{
"content": [
{
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"text": null,
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},
{
"image": null,
"image_id": null,
"text": "what is behind the candle holder",
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}
],
"role": "user"
... | {
"answer": "window",
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} |
[
{
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{
"image": "sqa3D/scene0030_00_bird.png",
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},
{
"image": null,
"image_id": null,
"text": "What is in front of the window to my left?",
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}
],
... | {
"answer": "boxes",
"closer to completion": null,
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} |
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{
"content": [
{
"image": "trainset/362/664341/Grasp the lower pant leg and waistband of black shorts and fold them over the upper pant leg and waistband_/00004.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/664341/Gr... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在黑色短裤下裤腿上方，夹持器闭合，已夹住下裤腿；右侧机械臂在黑色短裤腰带左侧，夹持器闭合，已夹住腰带。黑色短裤放置于工作台上方，工作台位于左右机械臂下方。黑色短裤下裤腿在左侧机械臂下方，腰带上裤腿在右侧机械臂右侧，左右机械臂正处于将下裤腿和腰带向腰带上裤腿方向折叠的位置。\nimg2: 左侧机械臂位于黑色短裤下裤腿的上方，夹持器闭合，已夹住下裤腿；右侧机械臂位于黑色短裤腰带的右侧，夹持器闭合，夹住腰带。黑色短裤放置在平面上，上裤腿位于下裤腿的下方，左侧机械臂... |
[
{
"content": [
{
"image": "trainset/384/666897/Lift the horizontally placed book on the shelf with the right arm_/00018.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/666897/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。右侧机械臂位于水平放置在书架上的书的上方，夹持器已物理接触并夹住该书，状态为闭合。目标书被右侧机械臂夹持，位于书架上，在左侧机械臂的右侧。书架位于左右机械臂之间，支撑着目标书。\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上方，其夹持器闭合夹住书，书已被抬起至书架上方。目标书位于右侧机械臂夹持器之间，相对于书架处于上方位置。书架在右侧机械臂下方，位于左侧机械臂右侧。左侧机械臂夹持器张开，未与任何... |
[
{
"content": [
{
"image": "trainset/414/675894/Hang the clothes held in the left arm on the left side of wooden clothes hanger_/00060.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/414/675894/Hang the clothes held in the ... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂位于木质衣架左侧上方，其夹持器闭合，夹住衣物；右侧机械臂位于木质衣架右侧旁边，其夹持器张开。目标物品衣物被左侧机械臂夹持，处于木质衣架左侧上方，接近衣架左侧挂钩。木质衣架位于左右机械臂之间，左侧有用于悬挂的挂钩，左侧机械臂位置便于将衣物挂至衣架左侧。\nimg2: 左侧机械臂位于木质衣架前方偏左侧，其夹持器闭合，夹住衣服；右侧机械臂位于木质衣架右侧，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前方；木质衣架位于左右机械臂之间，左侧挂钩在左侧机械... |
[
{
"content": [
{
"image": "trainset/357/654269/Place the spoon in the dishwasher with the left arm_/00183.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/357/654269/Place the spoon in the dishwasher with the left arm_/0019... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在洗碗机开口上方，其夹持器闭合，夹住勺子，勺子位于洗碗机开口处。右侧机械臂在洗碗机右侧，其夹持器张开。洗碗机位于左侧机械臂下方，是勺子的目标放置位置。\nimg2: 左侧机械臂位于洗碗机开口的上方，其夹持器处于闭合状态，正夹住勺子。右侧机械臂在洗碗机的右侧，夹持器呈张开状态。目标物品勺子被左侧机械臂夹持，位于洗碗机开口的正上方，即将进入洗碗机内部。洗碗机位于两个机械臂的前方，开口朝上。"
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000099.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a purple matte thing; does it have the same size as the metallic object that... | {
"answer": "yes",
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} |
[
{
"content": [
{
"image": "trainset/361/679891/Smooth out a messy green shorts with both arms and spread it flat_/00129.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/679891/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，已物理接触绿色短裤的左侧边缘；右侧机械臂夹持器闭合，已物理接触绿色短裤的右侧边缘。绿色短裤位于左右机械臂之间，下方是支撑平面（某物品），支撑平面在左右机械臂的下方。绿色短裤整体处于左右机械臂的夹持操作范围内，呈现被双臂从两侧向中间抚平的状态。\nimg2: 左侧机械臂在绿色短裤左侧边缘处，右侧机械臂在绿色短裤右侧边缘处。左侧机械臂夹持器闭合，已夹住绿色短裤左侧部分；右侧机械臂夹持器闭... |
[
{
"content": [
{
"image": "trainset/361/678934/Smooth out a messy black shorts with both arms and spread it flat_/00044.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/678934/Smooth out a messy black shorts with both a... | {
"answer": null,
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"spatial details": "\nimg1: 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，夹住黑色短裤左侧边缘；右侧机械臂夹持器闭合，夹住黑色短裤右侧边缘。黑色短裤平铺在工作台上方，位于左右机械臂之间，工作台在左右机械臂下方。\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，夹住黑色短裤左侧边缘；右侧机械臂夹持器闭合，夹住黑色短裤右侧边缘。黑色短裤位于平台上方，平台位于左右机械臂下方。黑色短裤处于左右机械臂之间，左右机械臂分别从... |
[
{
"content": [
{
"image": "trainset/388/690677/Close the freezer door_/00140.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/388/690677/Close the freezer door_/00154.jpg",
"image_id": "img2",
"text": null,
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在冰箱门右侧，夹持器闭合，已物理接触并夹住冰箱门边缘；右侧机械臂在冰箱门左侧，夹持器闭合，接触冰箱门另一侧。冰箱门在冰箱主体前方，处于半开状态，左右机械臂分别从两侧向中间施力，推动冰箱门向关闭方向移动。\nimg2: 左侧机械臂在冰箱门的右侧，右侧机械臂在冰箱门的左侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。冰箱门处于打开状态，位于冰箱本体的前方，冰箱门在左侧机械臂的左侧、右侧机械臂的右侧。冰箱本体在左右机械臂的后方。"
} |
[
{
"content": [
{
"image": "trainset/421/688202/Grasp the cloth on the table and wipe the stain_/00059.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/688202/Grasp the cloth on the table and wipe the stain_/00073.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在布的正上方，夹持器呈张开状态；右侧机械臂在桌子的右侧，夹持器呈张开状态。布平铺在桌子表面，位于左侧机械臂的正下方。污渍在桌子上，位于布的右侧。桌子作为基础物品，支撑着布和污渍，左侧机械臂处于准备抓取布的位置，右侧机械臂暂未与任务相关物品接触。\nimg2: 左侧机械臂在布的上方，右侧机械臂在桌子的右侧。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。目标物品布在桌子上，位于左侧机械臂的正下方，桌子在左右两个机械臂的下方。污渍在桌子上，位于布的右侧、... |
[
{
"content": [
{
"image": "trainset/421/689159/Grasp the cloth on the table and wipe the stain_/00031.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/689159/Grasp the cloth on the table and wipe the stain_/00038.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在布的上方，右侧机械臂在桌子的右侧。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。目标物品布位于桌子上，在左侧机械臂的正下方。桌子位于左右两个机械臂的下方。污渍在桌子上，位于布的旁边。\nimg2: 左侧机械臂在桌子上的布上方，右侧机械臂在桌子右侧。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。目标物品布位于桌子表面，在左侧机械臂正下方。桌子作为基础物品，左侧机械臂在其上方，右侧机械臂在其右侧。污渍位于桌子表面，在布的右侧，处于右侧机械臂... |
[
{
"content": [
{
"image": "DAQUAR/image721.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "what is the object close to the sink",
"type": "text"
}
],
"role": "user... | {
"answer": "faucet",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/362/669047/Grasp the lower pant leg and waistband of black shorts and fold them over the upper pant leg and waistband_/00032.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/669047/Gr... | {
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"spatial details": "\nimg1: 左侧机械臂在水龙头左侧，其夹持器处于张开状态。右侧机械臂在水龙头前方，其夹持器闭合，已物理接触并夹住水龙头把手。水龙头位于右侧机械臂正前方，在左侧机械臂右侧。水槽位于水龙头下方，左右机械臂均在水槽上方区域，右侧机械臂位置正对水龙头把手，夹持器闭合状态表明其正在执行关闭水龙头的操作。\nimg2: 左侧机械臂在水龙头左侧，右侧机械臂在水龙头前方并与其接触。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）。目标物品水龙头位于右侧机械臂夹持范围内，在左侧机械臂右... |
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"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。右侧机械臂在冰箱右侧，其夹持器张开，指尖未完全并拢。目标物品冰箱门位于冰箱前方，被左侧机械臂夹持；冰箱位于左侧机械臂后方、右侧机械臂左侧。\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，未接触任何物体。目标物品冰箱门位于冰箱前方，被左侧机械臂夹持；冰箱位于左侧机械臂后方、右侧机械臂左侧。"
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... | {
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"spatial details": "\nimg1: 左侧机械臂在纸箱上方，右侧机械臂在气柱膜旁边。左侧机械臂夹持器张开，右侧机械臂夹持器闭合且已夹住气柱膜。目标物品气柱膜位于纸箱外侧，在左侧机械臂下方和右侧机械臂前方。纸箱在左右机械臂下方，处于气柱膜内侧。\nimg2: 左侧机械臂在气柱膜上方，右侧机械臂在纸箱右侧。左侧机械臂夹持器呈张开状态，指尖与气柱膜间存在空隙；右侧机械臂夹持器闭合，指尖完全并拢。目标物品气柱膜位于纸箱外侧，在左侧机械臂正下方、右侧机械臂左侧。纸箱位于左侧机械臂下方、右侧机械臂左侧，处于气柱膜内侧... |
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"spatial details": "\nimg1: 左侧机械臂在书架左侧，其夹持器状态为张开。右侧机械臂位于书架上水平放置的书的正上方，其夹持器状态为闭合，夹爪已物理接触并夹住书的两侧。目标物品书水平放置在书架中层，位于左侧机械臂右侧、右侧机械臂正下方。书架在左侧机械臂右侧、右侧机械臂左侧，书位于书架的水平表面上。\nimg2: 左侧机械臂在书架左侧，其夹持器处于张开状态。右侧机械臂位于水平放置的书的正上方，其夹持器闭合，已物理接触并夹住书。目标物品书在右侧机械臂的夹持下，位于书架上方；书架在左右两个机械臂的下方。"
... |
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} |
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"image": "trainset/362/651946/Gr... | {
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"spatial details": "\nimg1: 左侧机械臂位于米色短裤下裤腿的上方，夹持器闭合；右侧机械臂位于米色短裤腰带的上方，夹持器闭合。米色短裤的上裤腿和腰带位于下裤腿和腰带的下方，左侧机械臂夹持的下裤腿与右侧机械臂夹持的腰带正被折叠至上裤腿和腰带的上方。\nimg2: 左侧机械臂位于米色短裤下裤腿的上方，右侧机械臂位于米色短裤裤腰的右侧。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，夹住裤腰。目标物品米色短裤的下裤腿和裤腰分别被左右机械臂夹持，且正被折叠至上裤腿和裤腰上方。上裤腿和裤腰位于米色短... |
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"spatial details": "\nimg1: 左侧机械臂位于麻辣红鸭脖正上方，右侧机械臂在麻辣红鸭脖右侧。左侧机械臂夹持器呈张开状态，指尖与麻辣红鸭脖间存在空隙；右侧机械臂夹持器呈张开状态。目标物品麻辣红鸭脖放置于一个盘子上，盘子位于工作台上。麻辣红鸭脖在左侧机械臂下方，在右侧机械臂左侧；盘子在左侧机械臂正下方，在右侧机械臂左侧。\nimg2: 左侧机械臂位于麻辣红色鸭脖上方，其夹持器呈张开状态；右侧机械臂位于麻辣红色鸭脖右侧，夹持器处于闭合状态。目标物品麻辣红色鸭脖放置在某平台上，位于左侧机械臂下方、右侧机械臂... |
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{
"image": "trainset/352/652149/Push the refrigerator door with the right arm_/00095.jpg",
... | {
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"spatial details": "\nimg1: 左侧机械臂位于冰箱主体左侧，其夹持器处于张开状态。右侧机械臂位于冰箱门前方，其夹持器与冰箱门接触，处于张开状态。冰箱门（目标物品）位于冰箱主体前方，右侧机械臂在其前方，左侧机械臂在其左侧。冰箱主体（某物品）位于左侧机械臂右侧、右侧机械臂后方。\nimg2: 左侧机械臂在冰箱的左侧，右侧机械臂在冰箱门的前方。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。目标物品冰箱门在冰箱的前方，位于右侧机械臂的前方，左侧机械臂在冰箱门的左侧。冰箱在左侧机械臂的右侧，在右... |
[
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{
"image": "trainset/410/679089/Lift the left arm with golden kettle_/00026.jpg",
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"spatial details": "\nimg1: 左侧机械臂在金色水壶上方并夹持住金色水壶，金色水壶位于某物品（如桌面）上方。右侧机械臂在金色水壶右侧，未接触任何物体。左侧机械臂夹持器状态为闭合（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（空闲且指尖未完全并拢）。金色水壶相对于左侧机械臂处于被夹持状态，相对于某物品位于上方；某物品位于左右机械臂下方。\nimg2: 左侧机械臂在金色水壶上方并夹持着金色水壶，金色水壶被其夹爪物理接触夹住；右侧机械臂在金色水壶右侧，未接触目标物品。左侧机械臂夹持器状态为闭合；... |
[
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"content": [
{
"image": "trainset/367/651167/Pick up the plain toast from the front card slot white toaster with left arm_/00015.jpg",
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"image": "trainset/367/651167/Pick up the plain toast from the... | {
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"spatial details": "\nimg1: 左侧机械臂在白色烤面包机（带前卡槽）的前方，其夹持器位于烤面包机前卡槽内的原味吐司上方。左侧机械臂夹持器状态为张开，指尖与吐司间存在空隙，处于准备抓取状态。右侧机械臂在白色烤面包机的右侧，其夹持器状态为张开，指尖未并拢。目标物品原味吐司位于白色烤面包机的前卡槽内，在左侧机械臂夹持器的正下方。白色烤面包机位于左侧机械臂的前方、右侧机械臂的左侧。\nimg2: 左侧机械臂在白色烤面包机前方，其夹持器正对烤面包机前卡槽。右侧机械臂在白色烤面包机右侧。左侧机械臂夹持器处于张开... |
[
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"image": "trainset/358/659029/Press the green toaster start button with both arms_/0012... | {
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"spatial details": "\nimg1: 左侧机械臂位于绿色烤面包机的左侧，其夹持器在烤面包机绿色启动按钮的前方；右侧机械臂位于绿色烤面包机的右侧，其夹持器同样在绿色启动按钮的前方。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。目标物品绿色烤面包机启动按钮位于烤面包机的正面，处于左右两个机械臂夹持器之间。烤面包机位于左右两个机械臂之间，左侧机械臂在烤面包机左侧，右侧机械臂在烤面包机右侧。\nimg2: 左侧机械臂在烤面包机左侧前方，右侧机械臂在烤面包机右侧前方。左侧机械臂夹持器闭合（指尖完全并拢），... |
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"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左右机械臂之间，处于烤箱主体前方。烤箱主体位于左右机械臂后方。\nimg2: 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，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。烤箱门位于左右机械臂之间，处于待打开状态。无其他显著物品干扰机械臂对烤箱门的操作。"
} |
[
{
"content": [
{
"image": "trainset/366/666407/Retrieve dried plum and tangerine peel cake from top-left corner of the material frame with the left arm_/00005.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/366/666407/Retr... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于物料框上方，且处于物料框左上角的目标物品（dried plum and tangerine peel cake）正上方；右侧机械臂在物料框右侧。左侧机械臂夹持器张开，其夹爪呈钳形对准目标物品，指尖与目标物品间存在空隙；右侧机械臂夹持器张开，夹爪指尖未并拢。目标物品位于物料框左上角，在左侧机械臂下方，在右侧机械臂左侧；物料框在左侧机械臂下方，在右侧机械臂左侧。\nimg2: 左侧机械臂位于物料框左上角的陈皮梅蛋糕上方，其夹持器呈张开状态；右侧机械臂在物料框... |
[
{
"content": [
{
"image": "trainset/372/690069/Grasp the left arm with red canvas tote bag_/00009.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/372/690069/Grasp the left arm with red canvas tote bag_/00022.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于带有红色帆布手提袋的左臂上方，其夹持器闭合，已物理接触并夹住红色帆布手提袋。右侧机械臂位于左臂右侧，其夹持器张开，指尖与物体间存在空隙。目标物品红色帆布手提袋附着在左臂表面，左臂位于左侧机械臂正下方、右侧机械臂左侧。\nimg2: 左侧机械臂夹持器闭合，夹住红色帆布手提袋，位于目标左臂上方；右侧机械臂位于目标左臂左侧，夹持器状态为张开。目标左臂位于左侧机械臂下方、右侧机械臂右侧。红色帆布手提袋被左侧机械臂夹持，位于目标左臂上方，正对着目标左臂。"
} |
[
{
"content": [
{
"image": "trainset/352/654599/Open the refrigerator door with the left arm_/00024.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/654599/Open the refrigerator door with the left arm_/00015.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。右侧机械臂在冰箱右侧，其夹持器张开。冰箱门位于冰箱前方，左侧机械臂在冰箱门前方并与其物理接触，右侧机械臂在冰箱右侧且未接触冰箱门。目标物品冰箱门被左侧机械臂夹持，处于冰箱前方位置，冰箱位于左右机械臂之间偏左侧。\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把手）；右侧机械臂在冰箱主体右侧，夹持器张开（空闲状态下夹爪未完全并拢）。目标物品冰箱门在左侧机械臂夹持下，位于冰箱主体前方（处于部分打开... |
[
{
"content": [
{
"image": "trainset/377/657717/Place the air column film into the carton on packaged concentrated coffee liquid_/00100.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/657717/Place the air column film in... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在气柱膜上方，其夹持器呈张开状态；右侧机械臂在纸箱上方，其夹持器呈张开状态。目标物品气柱膜位于包装好的浓缩咖啡液左侧，纸箱放置在包装好的浓缩咖啡液上方。包装好的浓缩咖啡液处于左右两个机械臂的下方，气柱膜在纸箱的左侧。\nimg2: 左侧机械臂在气柱膜上方，夹持器张开；右侧机械臂在纸箱右侧，夹持器闭合。目标物品气柱膜位于左侧机械臂下方、纸箱左侧。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、左右机械臂之间。"
} |
[
{
"content": [
{
"image": "sqa3D/scene0067_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "If I wanted to brush my teeth, what would I use behind me?",
"type": "text"
... | {
"answer": "sink",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/362/670217/Grasp the lower pant leg and waistband of beige shorts and fold them over the upper pant leg and waistband_/00044.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/670217/Gr... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在米色短裤下裤腿的右侧，夹持器闭合夹住下裤腿；右侧机械臂位于米色短裤腰带上方，夹持器闭合夹住腰带。米色短裤的上裤腿和腰带部分位于下裤腿的下方，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，两者正处于向短裤上裤腿和腰带折叠的过程中。\nimg2: 左侧机械臂在米色短裤下裤腿上方，夹持器呈张开状态；右侧机械臂在米色短裤腰带左侧，夹持器闭合夹住腰带。米色短裤放置在工作台上方，工作台位于左右机械臂下方。右侧机械臂夹住的腰带部分在短裤上裤腿上方，左侧机械臂下方... |
[
{
"content": [
{
"image": "trainset/421/682921/Lower the cup held in the left arm_/00118.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/682921/Lower the cup held in the left arm_/00134.jpg",
"image_id": "img2"... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于杯子上方并夹持杯子，杯子位于桌面上方；右侧机械臂位于杯子右侧，未接触其他物品。左侧机械臂夹持器状态为闭合（已物理接触并夹住杯子）；右侧机械臂夹持器状态为张开（空闲且指尖未完全并拢）。目标物品杯子被左侧机械臂夹持，位于桌面上方；桌面位于左右两个机械臂下方。\nimg2: 左侧机械臂在桌子上方，其夹持器处于闭合状态，物理接触并夹住目标物品杯子。右侧机械臂在桌子右侧，其夹持器处于张开状态，指尖未完全并拢且未接触任何物体。目标物品杯子被左侧机械臂夹持，位于桌子上... |
[
{
"content": [
{
"image": "trainset/410/660952/Pour the water from the held white kettle into the nearby cup_/00026.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/660952/Pour the water from the held white kettle into ... | {
"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，正夹持着白色水壶；左侧机械臂在杯子左侧，其夹持器张开，未夹持物品。白色水壶位于杯子正上方，壶嘴朝向杯口，杯口朝上处于水壶倒水路径下方。杯子在右侧机械臂正下方，同时在左侧机械臂右侧。关键物品布局为：右侧机械臂持水壶悬于杯子上方，杯子位置正对水壶壶嘴，利于完成倒水任务。\nimg2: 左侧机械臂在杯子左侧，右侧机械臂在杯子上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合（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... |
[
{
"content": [
{
"image": "trainset/357/683713/Place the bowl in the dishwasher with the left arm_/00204.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/357/683713/Place the bowl in the dishwasher with the left arm_/00188.... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在洗碗机开口上方，其夹持器闭合，正夹住碗。右侧机械臂在洗碗机右侧，夹持器张开。目标物品碗被左侧机械臂夹持，位于洗碗机开口正上方。洗碗机位于左侧机械臂前方，右侧机械臂在洗碗机右侧且未接触任何物品。\nimg2: 左侧机械臂位于洗碗机开口的正上方，其夹持器闭合，已物理接触并夹住碗；右侧机械臂位于洗碗机的右侧，其夹持器处于张开状态，指尖未并拢且未接触任何物体。目标物品碗被左侧机械臂夹持，位于洗碗机开口的正上方；洗碗机位于左侧机械臂的下方，同时在右侧机械臂的左侧。"... |
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