messages listlengths 1 1 | target dict |
|---|---|
[
{
"content": [
{
"image": "sqa3D/scene0479_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Can I see the counter where I am standing?",
"type": "text"
}
],
... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/358/687062/Press the white toaster start button with both arms_/00106.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/358/687062/Press the white toaster start button with both arms_/0009... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在白色烤面包机左侧，其夹持器闭合，正接触烤面包机的启动按钮；右侧机械臂在白色烤面包机右侧，其夹持器闭合，正接触烤面包机的启动按钮。白色烤面包机位于左右机械臂之间，启动按钮位于烤面包机正面，处于左右机械臂夹持器的接触位置。\nimg2: 左侧机械臂在白色烤面包机的左侧，其夹持器前端指向烤面包机的启动按钮；右侧机械臂在白色烤面包机的右侧，其夹持器前端同样指向启动按钮。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品启动按钮位于白色烤面包机的正面，... |
[
{
"content": [
{
"image": "sqa3D/scene0554_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Am I standing closer to the mini fridge or the fan?",
"type": "text"
}
... | {
"answer": "mini fridge",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/424/690691/Throw the held outer packaging skin into desktop trash bin_/00110.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/424/690691/Throw the held outer packaging skin into desktop t... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 右侧机械臂在桌面垃圾桶上方，其夹持器处于张开状态。左侧机械臂在桌面垃圾桶左侧，夹持器呈张开状态。目标物品外包装皮位于桌面垃圾桶内。桌面垃圾桶在右侧机械臂下方，在左侧机械臂右侧。\nimg2: 右侧机械臂位于桌面垃圾桶正上方，其夹持器状态为张开；左侧机械臂位于垃圾桶左侧，其夹持器状态为闭合。目标物品外包装皮位于垃圾桶开口内，处于右侧机械臂正下方。桌面垃圾桶位于左侧机械臂右侧、右侧机械臂正下方，且垃圾桶开口朝上。"
} |
[
{
"content": [
{
"image": "trainset/392/679588/Turn on the faucet with the right arm_/00086.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/679588/Turn on the faucet with the right arm_/00078.jpg",
"image_id": ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在水龙头左侧，右侧机械臂在水龙头前方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合（夹住水龙头手柄）。水龙头位于右侧机械臂前方，在左侧机械臂右侧。\nimg2: 左侧机械臂在水龙头左侧，其夹持器处于张开状态。右侧机械臂位于水龙头前方，夹持器闭合，已物理接触并夹住水龙头手柄。水龙头在右侧机械臂前方，在左侧机械臂右侧。左侧机械臂在右侧机械臂左侧。右侧机械臂通过闭合的夹持器与水龙头手柄接触，此空间布局显示右侧机械臂正执行打开水龙头的操作。"
} |
[
{
"content": [
{
"image": "trainset/352/671371/Pick up the green tea from the fridge with the left arm_/00081.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/671371/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的绿茶上方，其夹持器处于张开状态。右侧机械臂位于冰箱的右侧，夹持器呈张开状态。目标物品绿茶位于冰箱内部，在左侧机械臂的正下方，同时位于右侧机械臂的左前方。冰箱位于左右两个机械臂的前方，左侧机械臂更靠近冰箱开口位置。\nimg2: 左侧机械臂位于冰箱前方，其夹持器在绿茶上方并对准绿茶；右侧机械臂位于冰箱右侧，未接触任何物品。左侧机械臂夹持器状态为张开（指尖与绿茶间存在空隙，未物理接触）；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... |
[
{
"content": [
{
"image": "trainset/377/675113/Place the air column film into the carton on blue cleansing milk_/00225.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/675113/Place the air column film into the carton on... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在纸箱和蓝色洁面奶上方，其夹持器闭合，正夹持气柱膜。右侧机械臂在纸箱右侧，夹持器张开。目标物品气柱膜位于左侧机械臂夹持器中，处于纸箱上方。纸箱位于蓝色洁面奶上方，蓝色洁面奶在纸箱下方。关键物品空间布局为蓝色洁面奶在下，纸箱置于其上，气柱膜被左侧机械臂夹持于纸箱正上方，右侧机械臂在纸箱右侧待命。\nimg2: 左侧机械臂在纸箱上方，右侧机械臂在纸箱右侧。左侧机械臂夹持器闭合（夹住气柱膜），右侧机械臂夹持器张开。目标物品气柱膜被左侧机械臂夹持，位于纸箱上方。纸箱... |
[
{
"content": [
{
"image": "sqa3D/scene0232_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Can I still walk forward?",
"type": "text"
}
],
"role": "user"
... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/361/683536/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00010.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/683536/Smooth out a messy light blue de... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤左半部分上方，右侧机械臂在浅蓝色牛仔短裤右半部分上方。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表面，工作台在左右机械臂下方。短裤整体处于左右机械臂之间，被两臂向两侧拉伸以摊平。\nimg2: 左侧机械臂在浅蓝色牛仔短裤左侧，右侧机械臂在浅蓝色牛仔短裤右侧；左侧机械臂夹持器闭合，已夹住短裤左侧边缘，右侧机械臂夹持器闭合，已夹住短裤右侧边缘；浅蓝色牛仔短裤位于左右机械臂之间，平铺于工... |
[
{
"content": [
{
"image": "trainset/414/675618/Grasp the left arm with the left hand_/00088.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/414/675618/Grasp the left arm with the left hand_/00093.jpg",
"image_id": ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于目标左臂的正前方，其夹持器闭合，已物理接触并夹住目标左臂；右侧机械臂位于目标左臂的右侧，其夹持器张开。目标左臂位于左侧机械臂夹持器内部，同时位于右侧机械臂的左侧。某物品（带有左臂的物体）位于左侧机械臂和右侧机械臂之间，其左臂水平伸出，处于左侧机械臂的抓取范围内。\nimg2: {\"描述\": \"左侧机械臂位于目标物品（左臂）的正前方，其夹持器闭合，已物理接触并夹住目标物品（左臂）。右侧机械臂位于目标物品（左臂）的右侧约10厘米处，其夹持器呈张开状态，... |
[
{
"content": [
{
"image": "trainset/421/688056/Lift the cup on the table with the left arm_/00009.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/688056/Lift the cup on the table with the left arm_/00024.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于杯子周围，夹持器闭合夹住杯子，杯子被抬起至桌子上方；右侧机械臂位于桌子右侧，夹持器张开。杯子位于左侧机械臂夹持器内，在桌子上方、右侧机械臂左侧；桌子位于左侧机械臂下方，右侧机械臂左侧。\nimg2: 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，夹持器张开。目标物品杯子位于桌子上方，在左侧机械臂下方，在右侧机械臂左侧。桌子位于左右机械臂下方，支撑杯子。"
} |
[
{
"content": [
{
"image": "trainset/352/658639/Open the refrigerator door with the left arm_/00028.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/658639/Open the refrigerator door with the left arm_/00016.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，已物理接触并夹住冰箱门。右侧机械臂在冰箱主体右侧，夹持器张开，指尖未完全并拢。目标物品冰箱门位于左侧机械臂前方，被左侧机械臂夹持，相对于冰箱主体处于待打开状态。冰箱主体位于左侧机械臂后方和右侧机械臂左侧。\nimg2: 左侧机械臂在冰箱门前方，其夹持器已物理接触并夹住冰箱门，开合状态为闭合。右侧机械臂在冰箱主体右侧，其夹持器指尖未完全并拢，开合状态为张开。目标物品冰箱门位于冰箱主体前方，且处于左侧机械臂的夹持范围内。冰箱主体在左右... |
[
{
"content": [
{
"image": "sqa3D/scene0416_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What color is the cabinet behind me?",
"type": "text"
}
],
"role... | {
"answer": "black",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/380/663224/Place the air column film held by right arm onto the items in the carton_/00175.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/663224/Place the air column film held by ri... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在纸箱的左侧，夹持器状态为张开。右侧机械臂在纸箱内物品的正上方，夹持器状态为闭合，其夹持的气柱膜位于纸箱内物品的正上方。纸箱位于左右机械臂的下方，纸箱内物品堆叠在纸箱底部。气柱膜被右侧机械臂夹持，处于即将放置到纸箱内物品上的位置。\nimg2: 左侧机械臂在纸箱的左侧，其夹持器处于张开状态。右侧机械臂在纸箱上方，夹持器闭合且夹住气柱膜，气柱膜位于纸箱内物品的正上方。纸箱内物品位于纸箱内部，纸箱在左右机械臂之间的下方位置。"
} |
[
{
"content": [
{
"image": "trainset/359/681235/Retrieve clothes hanger with the right arm from right material frame_/00076.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/681235/Retrieve clothes hanger with the right a... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在右侧机械臂的左侧。右侧机械臂在右侧物料架的前方。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。目标物品衣架位于右侧物料架内部，衣架在右侧机械臂的后方。右侧物料架在右侧机械臂的后方，在左侧机械臂的右侧。\nimg2: 左侧机械臂在右侧物料架的左侧。右侧机械臂在右侧物料架的前方，其夹持器正对右侧物料架内的衣架。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，指尖与衣架间存在空隙。目标物品衣架位于右侧物料架内部，在右侧机械臂的前方、左侧机械... |
[
{
"content": [
{
"image": "trainset/376/680103/Place the held standard usb 3.0 cable into the right blue target box_/00068.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/680103/Place the held standard usb 3.0 cable in... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 右侧机械臂位于右侧蓝色目标盒上方，其夹持器处于闭合状态，正持有标准USB 3.0线缆；左侧机械臂在右侧蓝色目标盒左侧，夹持器呈张开状态。标准USB 3.0线缆被右侧机械臂夹持，位于右侧蓝色目标盒正上方；右侧蓝色目标盒在右侧机械臂下方，在左侧机械臂右侧。\nimg2: 左侧机械臂在右侧蓝色目标盒的左侧，其夹持器处于张开状态。右侧机械臂在右侧蓝色目标盒的上方，其夹持器处于闭合状态，正夹持着标准USB 3.0线缆。标准USB 3.0线缆被右侧机械臂夹持，位于右侧蓝色目标盒的... |
[
{
"content": [
{
"image": "trainset/385/676589/Retrieve onion from the shelf_/00076.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/385/676589/Retrieve onion from the shelf_/00069.jpg",
"image_id": "img2",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在洋葱上方，右侧机械臂在货架右侧。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈闭合状态。目标物品洋葱位于货架上，在左侧机械臂下方、右侧机械臂左侧。货架位于左右机械臂前方，洋葱处于货架上层，在左侧机械臂正下方，便于左侧机械臂抓取。\nimg2: 左侧机械臂在洋葱上方，右侧机械臂在洋葱右侧。左侧机械臂夹持器张开，右侧机械臂夹持器张开。洋葱位于架子上，洋葱在左侧机械臂下方，在右侧机械臂左侧。架子在洋葱下方，支撑洋葱。"
} |
[
{
"content": [
{
"image": "trainset/361/676494/Smooth out a messy green shorts with both arms and spread it flat_/00130.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/676494/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，已夹住绿色短裤左边缘；右侧机械臂夹持器闭合，已夹住绿色短裤右边缘。目标物品绿色短裤位于某物品（平面）上方，且处于左右机械臂之间。某物品（平面）在左右机械臂下方，作为绿色短裤的支撑面。绿色短裤整体呈半展开状态，左右机械臂通过夹持边缘向两侧拉伸以铺平。\nimg2: 左侧机械臂位于绿色短裤左侧上方，右侧机械臂位于绿色短裤右侧上方。左侧机械臂夹持器闭合，夹住短裤左边缘；右侧机械臂夹持器闭合，夹... |
[
{
"content": [
{
"image": "trainset/359/687686/Retrieve wet wipes from left material frame with the left arm_/00014.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/687686/Retrieve wet wipes from left material frame wit... | {
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"image": "trainset/361/692039/Smooth out a messy brown shorts with both arms and spread it flat_/00121.jpg",
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"image": "trainset/362/665076/Grasp the waistband of light blue denim shorts with both hands and fold it down to the legs_/00078.jpg",
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"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，正对物料架内的湿纸巾。右侧机械臂位于右侧物料架上方，夹持器呈张开状态。湿纸巾位于左侧物料架内部，左侧机械臂在湿纸巾的前方且稍上方。左侧物料架在左侧机械臂的后方，在右侧机械臂的左侧。\nimg2: 左侧机械臂位于左侧物料架前方，其夹持器正对左侧物料架上的湿纸巾，处于张开状态。右侧机械臂位于左侧物料架右侧，远离湿纸巾，其夹持器处于闭合状态。目标物品湿纸巾位于左侧物料架内部，在左侧机械臂的前方。左侧物料架位于左侧机械臂后方... |
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[
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"image": "trainset/362/667345/Gr... | {
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"spatial details": "\nimg1: 左侧机械臂在黑色短裤下裤腿上方，右侧机械臂在黑色短裤腰带上方。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。黑色短裤位于左右机械臂下方，其下裤腿在左侧机械臂下方，腰带在右侧机械臂下方。上裤腿和腰带（某物品）位于黑色短裤上部，在右侧机械臂左侧，下裤腿在左侧机械臂右侧。\nimg2: 左侧机械臂在黑色短裤下裤腿右侧，其夹持器闭合，已夹住下裤腿；右侧机械臂在黑色短裤腰band左侧，其夹持器闭合，已夹住腰band。黑色短裤上裤腿位于下裤腿和腰band下方，下裤腿和腰band被左... |
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... | {
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[
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[
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{
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"text": "What material is the large blue thing?",
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],
"r... | {
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"text": "what is the largest object",
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] | {
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{
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... | {
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[
{
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{
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"text": "What number of other objects are there of the same color as the tiny ball?",
... | {
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{
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[
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"image": "trainset/410/651737/Pour the water from the held white kettle into ... | {
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"spatial details": "\nimg1: 左侧机械臂夹持着白色水壶，其位置在杯子的上方，壶嘴朝向杯子。左侧机械臂夹持器状态为闭合（已物理接触并夹住水壶）。右侧机械臂位于杯子的右侧，其夹持器状态为张开（未夹住物体且指尖未完全并拢）。白色水壶作为任务相关物品，被左侧机械臂夹持并处于杯子的上方；杯子作为目标物品，位于左侧机械臂的下方和右侧机械臂的左侧，且在左侧机械臂的旁边，是倒水的目标位置。\nimg2: 右侧机械臂夹持着白色水壶，其夹持器状态为闭合；右侧机械臂位于杯子上方。左侧机械臂未夹持物品，夹持器状态为张开，... |
[
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{
"image": "trainset/390/654607/Lift the moisturizing lotion on the counter with the left arm_/00083.jpg",
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{
"image": "trainset/390/654607/Lift the moisturizing lotion on the counter wit... | {
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"spatial details": "\nimg1: 左侧机械臂位于保湿乳液上方，其夹持器闭合，已物理接触并夹住保湿乳液。右侧机械臂位于柜台右侧，其夹持器张开，处于空闲状态。目标物品保湿乳液被左侧机械臂夹持，位于柜台上方，相对于左侧机械臂处于被夹持状态，相对于右侧机械臂位于其左侧。柜台作为支撑面，位于左右两个机械臂的下方。保湿乳液原本放置于柜台上，当前被左侧机械臂抬起，脱离柜台表面。\nimg2: 左侧机械臂在保湿乳液上方，其夹持器闭合，已物理接触并夹住保湿乳液；右侧机械臂在柜台右侧，其夹持器张开。保湿乳液位于柜台上，柜... |
[
{
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{
"image": "trainset/362/649820/Grasp the lower pant leg and waistband of beige shorts and fold them over the upper pant leg and waistband_/00052.jpg",
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{
"image": "trainset/362/649820/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，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，已物理接触并夹住下裤腿；右侧机械臂夹持器闭合，已物理接触并夹住腰带。米色短裤的下裤腿位于上裤腿的下方，腰带位于上裤腿的旁边，左右机械臂正将夹持的下裤腿和腰带向米色短裤上裤腿和腰带的方向移动，处于折叠过程中。\nimg2: 左侧机械臂位于米色短裤下裤腿的上方，夹持器闭合夹住下裤腿；右侧机械臂位于米色短裤腰带的右侧，夹持器闭合夹住腰带。米色短裤平铺于工作台表面，下裤腿在左侧机械臂下... |
[
{
"content": [
{
"image": "trainset/361/665857/Smooth out a messy green shorts with both arms and spread it flat_/00091.jpg",
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},
{
"image": "trainset/361/665857/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，已夹住绿色短裤左侧边缘；右侧机械臂夹持器闭合，已夹住绿色短裤右侧边缘。绿色短裤位于工作台上方，左右机械臂分别从两侧夹持短裤以展开抚平。工作台在左右机械臂下方，支撑绿色短裤。\nimg2: 左侧机械臂在绿色短裤的左侧，右侧机械臂在绿色短裤的右侧。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。绿色短裤位于左右机械臂之间，下... |
[
{
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{
"image": "trainset/368/660566/Push the baking tray containing potato into the oven with the right arm_/00271.jpg",
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},
{
"image": "trainset/368/660566/Push the baking tray containing potat... | {
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"spatial details": "\nimg1: 左侧机械臂在烤箱的左侧，未接触其他物品，夹持器呈张开状态。右侧机械臂在烤盘的前方，夹持器张开并接触烤盘的侧面。烤盘位于烤箱的开口处，部分在烤箱外部，土豆放置在烤盘内。烤箱在右侧机械臂的后方，烤盘相对于右侧机械臂位于其后方，相对于烤箱位于开口处外部。右侧机械臂通过张开的夹持器接触烤盘侧面，准备将其推入烤箱。\nimg2: 左侧机械臂在烤箱左侧，未接触烤盘。右侧机械臂在烤盘右侧，其夹持器闭合，物理接触并推动烤盘。烤盘位于烤箱入口处，土豆在烤盘内。烤箱在右侧机械臂左侧，烤盘... |
[
{
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},
{
"image": null,
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"text": "The red metal object that is to the left of the tiny red metallic cube and in front o... | {
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{
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},
{
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"spatial details": "\nimg1: 左侧机械臂在米色短裤腰带左侧，右侧机械臂在米色短裤腰带右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。米色短裤位于腿部上方，其腰带被左右机械臂夹持；腿部位于左右机械臂下方。米色短裤腰带部分被左右机械臂夹住，整体处于待向下折叠至腿部的状态。\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。米色短裤的裤腰部分被左右机械臂夹住，腿部部分位于裤腰下方，左右机械臂正将夹住的裤腰向下移动至腿部上方。"
} |
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{
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{
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},
{
"image": "trainset/410/679327/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，水壶壶嘴朝向杯子；右侧机械臂在杯子右侧，其夹持器张开，未夹持任何物品。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，同时在右侧机械臂左侧。金色水壶与杯子处于垂直方向的上下位置关系，水壶壶嘴与杯口接近，便于倒水。\nimg2: 左侧机械臂在杯子上方，其夹持器闭合以夹住金色水壶；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夹持，位于杯子正上方；杯子在左侧机械臂下方，处于水壶的正下方，是倒水... |
[
{
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{
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},
{
"image": null,
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"text": "What material is the cube that is the same size as the green cylinder?",
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"answer": "metal",
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"content": [
{
"image": "trainset/361/682186/Smooth out a messy retro blue jeans with both arms and spread it flat_/00014.jpg",
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},
{
"image": "trainset/361/682186/Smooth out a messy retro blue jeans wit... | {
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"spatial details": "\nimg1: 左侧机械臂在复古蓝色牛仔裤左侧区域上方，右侧机械臂在复古蓝色牛仔裤右侧区域上方。左侧机械臂夹持器闭合，已物理接触并夹住牛仔裤左侧边缘；右侧机械臂夹持器闭合，已物理接触并夹住牛仔裤右侧边缘。目标物品复古蓝色牛仔裤位于某支撑平台上方，某支撑平台在左右机械臂正下方。牛仔裤整体处于左右机械臂之间，左右机械臂分别从两侧对牛仔裤施加拉力以铺平，牛仔裤当前处于被双臂拉伸的状态。\nimg2: 左侧机械臂在复古蓝色牛仔裤左侧上方，右侧机械臂在复古蓝色牛仔裤右侧上方。左侧机械臂夹持器张... |
[
{
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{
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},
{
"image": "trainset/422/687141/Lift the air column film from the table with the r... | {
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"spatial details": "\nimg1: 左侧机械臂在桌子的左侧，未接触气柱膜。右侧机械臂在气柱膜的上方，其夹持器闭合，已物理接触并夹住气柱膜。气柱膜位于右侧机械臂夹持器之间，底部离开桌面，相对于左侧机械臂在右侧，相对于桌子在上方。桌子在左右机械臂的下方，作为支撑面。左侧机械臂夹持器处于张开状态。\nimg2: 左侧机械臂在桌子左侧，其夹持器处于张开状态。右侧机械臂在气柱膜上方，其夹持器处于闭合状态且已夹住气柱膜。目标物品气柱膜位于右侧机械臂夹持器下方，且已被抬离桌面至桌子上方。桌子位于左右机械臂下方，气柱膜... |
[
{
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{
"image": null,
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"text": "If I look in the two o'clock direction, what would I be looking at?",
"type": ... | {
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[
{
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{
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"text": "Can I see the chair where I am standing?",
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}
],
"... | {
"answer": "no",
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[
{
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{
"image": "trainset/361/690673/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00065.jpg",
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},
{
"image": "trainset/361/690673/Smooth out a messy light blue de... | {
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"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤的左侧上方，右侧机械臂在浅蓝色牛仔短裤的右侧上方。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。浅蓝色牛仔短裤位于左右机械臂之间的下方，且在工作台上方。工作台位于左右机械臂的下方。左右机械臂分别夹持短裤的左右边缘，二者共同作用于短裤以进行抚平展平操作。\nimg2: 左侧机械臂在浅蓝色牛仔短裤的左侧上方，右侧机械臂在浅蓝色牛仔短裤的右侧上方。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位于工作台上方，左右机械臂... |
[
{
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},
{
"image": null,
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"text": "Which direction should I go if I want to use mirror?",
"type": "text"
}
... | {
"answer": "right",
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{
"image": "trainset/392/684750/Scrub the water cup held in the left arm with the cup brush in the right arm_/00165.jpg",
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"text": null,
"type": "image"
},
{
"image": "trainset/392/684750/Scrub the water cup held in the ... | {
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"spatial details": "\nimg1: 左侧机械臂夹持着水杯，其夹持器处于闭合状态；右侧机械臂夹持着杯刷，夹持器处于闭合状态。水杯位于左侧机械臂的夹持范围内，右侧机械臂在水杯的旁边，杯刷接触水杯的内壁，处于擦洗位置。杯刷被右侧机械臂夹持，位于水杯的内侧，与水杯直接接触以进行擦洗动作。\nimg2: 左侧机械臂持有水杯，其夹持器状态为闭合；右侧机械臂持有杯刷，其夹持器状态为闭合。右侧机械臂位于左侧机械臂持有的水杯内部，杯刷接触水杯内壁。目标物品水杯被左侧机械臂夹持，处于左侧机械臂夹持器中；杯刷被右侧机械臂夹持... |
[
{
"content": [
{
"image": "trainset/360/677068/Grasp the left arm with gray felt bag_/00002.jpg",
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"text": null,
"type": "image"
},
{
"image": "trainset/360/677068/Grasp the left arm with gray felt bag_/00010.jpg",
"image_id": ... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂位于带有灰色毛毡袋的左臂（目标物品）正上方，其夹持器指尖已物理接触并夹住该左臂，开合状态为闭合；右侧机械臂位于目标物品右侧，夹持器呈钳形未接触物体，开合状态为张开。目标物品放置在某平台（某物品）上，该平台位于左右机械臂下方；目标物品相对于左侧机械臂在下方，相对于右侧机械臂在左侧；某平台相对于左右机械臂均在下方。\nimg2: 左侧机械臂在带有灰色毛毡袋的左臂（目标物品）上方，其夹持器呈闭合状态，夹爪已物理接触并夹住目标物品的灰色毛毡袋部分。右侧机械臂在目标物... |
[
{
"content": [
{
"image": "trainset/352/666069/Open the refrigerator door with the left arm_/00022.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/666069/Open the refrigerator door with the left arm_/00038.jpg",
... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂位于冰箱门前方，其夹持器处于张开状态，夹爪指尖与冰箱门之间存在空隙。右侧机械臂位于冰箱主体右侧，夹持器呈张开状态。目标物品冰箱门位于冰箱主体前方，左侧机械臂在冰箱门的正前方，右侧机械臂在冰箱门的右侧。冰箱主体位于左右机械臂的后方，左侧机械臂与冰箱门的空间位置关系利于执行开门动作。\nimg2: 左侧机械臂在冰箱门前方，其夹持器处于张开状态；右侧机械臂在冰箱右侧，夹持器处于闭合状态。冰箱门相对于左侧机械臂在其后方，相对于右侧机械臂在其左侧。冰箱主体在左侧机械臂... |
[
{
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{
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"image_id": null,
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},
{
"image": null,
"image_id": null,
"text": "Does the bed that I am standing on seem messy or neat?",
"type": "text"
... | {
"answer": "messy",
"closer to completion": null,
"spatial details": null
} |
[
{
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{
"image": "trainset/362/670883/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00055.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/670883/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在米色短裤腰带的左侧，右侧机械臂在米色短裤腰带的右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品米色短裤的腰带部分被左右机械臂共同夹持，短裤的腿部部分位于腰带下方，即处于左右机械臂夹持位置的正下方。短裤整体位于左右机械臂的前方，其腿部部分相对于左右机械臂处于夹持点的下方，形成腰带被向下折叠向腿部的空间布局。\nimg2: 左侧机械臂在米色短裤裤腰左侧上方，右侧机械臂在米色短裤裤腰右侧上方。左侧机械臂夹持器闭合，已夹住裤腰左侧；右侧机械臂夹持器闭合，... |
[
{
"content": [
{
"image": "trainset/421/685904/Lift the cup on the table with the left arm_/00011.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/685904/Lift the cup on the table with the left arm_/00005.jpg",
... | {
"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（指尖未并拢且未接触物体）。目标物品杯子位于左侧机械臂下方，已被夹持并部分抬离桌面，杯子原本在桌子上，桌子位于左右机械臂下方，杯子在右侧机械臂左侧。\nimg2: 左侧机械臂位于杯子上方，其夹持器闭合，已物理接触并夹住杯子，杯子被左侧机械臂抬起，底部与桌面存在间隙。右侧机械臂位于桌子右侧，其夹持器张开，未接触任何物体。目标物品杯子相对于左侧机械臂处于被夹持状态，相对于桌子位于... |
[
{
"content": [
{
"image": "trainset/380/685362/Place the held lipstick into the cardboard box_/00219.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/685362/Place the held lipstick into the cardboard box_/00235.jpg",
... | {
"answer": null,
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"spatial details": "\nimg1: 右侧机械臂在纸板盒上方，其夹持器闭合，夹住口红；左侧机械臂在纸板盒左侧，夹持器张开。口红被右侧机械臂夹持，位于纸板盒正上方；纸板盒位于右侧机械臂下方、左侧机械臂右侧。关键物品空间布局为：右侧机械臂持口红处于纸板盒上方，左侧机械臂在纸板盒左侧空闲，口红未进入纸板盒内。\nimg2: 右侧机械臂夹持器闭合，夹住口红，位于纸箱上方；左侧机械臂位于纸箱左侧，夹持器张开。口红被右侧机械臂夹持，处于纸箱开口正上方。纸箱位于左侧机械臂右侧、右侧机械臂下方，开口朝上。关键物品布局为：... |
[
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"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主体右侧，夹持器处于空闲状态且指尖完全并拢，开合状态为闭合。目标物品冰箱门位于左侧机械臂前方，被左侧机械臂夹持；冰箱主体位于左侧机械臂后方、右侧机械臂左侧。左侧机械臂在冰箱主体前方，右侧机械臂在冰箱主体右侧，两者分别位于冰箱的前方和右侧位置。\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边缘）；右侧机械臂在冰箱右侧，其夹持器张开（指尖未完全并拢且未... |
[
{
"content": [
{
"image": "trainset/362/671988/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00056.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/671988/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在米色短裤腰部左侧，右侧机械臂在米色短裤腰部右侧。左侧机械臂夹持器闭合，已夹住短裤腰带左侧；右侧机械臂夹持器闭合，已夹住短裤腰带右侧。目标物品米色短裤位于腿部上方，其腰部被左右机械臂夹持。腿部位于米色短裤下方，左右机械臂均在腿部上方、米色短裤腰部两侧。\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。左侧机械臂夹持器为闭合状态，已夹住米色短裤的左侧裤腰；右侧机械臂夹持器为闭合状态，已夹住米色短裤的右侧裤腰。目标物品米色短裤的裤腰... |
[
{
"content": [
{
"image": "trainset/410/680717/Lift the left arm with golden kettle_/00024.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/680717/Lift the left arm with golden kettle_/00011.jpg",
"image_id": "i... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在金色水壶上方并物理接触夹住金色水壶，其夹持器状态为闭合；右侧机械臂在左侧机械臂的右侧，夹持器状态为张开。金色水壶被左侧机械臂夹爪固定，位于某物品（原放置面）的上方；某物品在左侧机械臂的下方，右侧机械臂在某物品的右侧。左侧机械臂已将金色水壶从某物品上抬起，右侧机械臂未接触任何物体。\nimg2: 左侧机械臂在金色水壶上方并夹持金色水壶，右侧机械臂在金色水壶右侧。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（未夹住物体且指... |
[
{
"content": [
{
"image": "trainset/374/656486/Lift the wash and care set in the top-left corner of the material frame with the left arm_/00025.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/374/656486/Lift the wash and c... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于洗护套装下方并夹住该物品，其夹持器状态为闭合。右侧机械臂位于物料架右侧，其夹持器状态为张开。目标物品洗护套装位于物料架左上角，被左侧机械臂夹持。物料架位于左右机械臂前方，左侧机械臂在物料架左上角区域，右侧机械臂在物料架右侧旁边。\nimg2: 左侧机械臂位于material frame左上角的wash and care set上方，其夹持器闭合，已物理接触并夹住wash and care set。右侧机械臂在material frame右侧，夹持器呈张开... |
[
{
"content": [
{
"image": "trainset/361/688318/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00079.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/688318/Smooth out a messy light blue de... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤的左侧边缘处，右侧机械臂在短裤的右侧边缘处。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品浅蓝色牛仔短裤位于工作台上方，工作台在短裤下方。短裤在左右机械臂之间，左侧机械臂在短裤左侧，右侧机械臂在短裤右侧，两者通过夹持短裤边缘以展平短裤。\nimg2: 左侧机械臂在浅蓝色牛仔短裤的左侧上方，右侧机械臂在浅蓝色牛仔短裤的右侧上方。左侧机械臂夹持器闭合，夹住短裤的左侧边缘；右侧机械臂夹持器闭合，夹住短裤的右侧边缘。目标物品浅蓝色牛仔短裤位于工... |
[
{
"content": [
{
"image": "trainset/380/671488/Place the held green hand cream into the carton_/00151.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/671488/Place the held green hand cream into the carton_/00167.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在纸箱左侧，夹持器状态为张开；右侧机械臂在纸箱上方，夹持器状态为闭合，正夹持绿色护手霜。绿色护手霜被右侧机械臂夹持，位于纸箱开口正上方。纸箱放置在工作台上，位于左右机械臂之间，右侧机械臂的位置便于将绿色护手霜放入纸箱内。\nimg2: 右侧机械臂位于纸盒上方，其夹持器闭合，正物理接触并夹住绿色护手霜；左侧机械臂位于纸盒左侧，其夹持器张开，指尖未完全并拢且未接触任何物体。绿色护手霜被右侧机械臂夹持，处于纸盒开口的正上方；纸盒位于右侧机械臂下方、左侧机械臂右侧，... |
[
{
"content": [
{
"image": "trainset/358/661209/Press the white toaster start button with both arms_/00096.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/358/661209/Press the white toaster start button with both arms_/0010... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在白色烤面包机前方偏左位置，右侧机械臂在白色烤面包机前方偏右位置。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（白色烤面包机启动按钮）位于烤面包机正面，左侧机械臂夹持器在按钮左侧前方，右侧机械臂夹持器在按钮右侧前方。白色烤面包机在左右机械臂之间的后方位置。\nimg2: 左侧机械臂在白色烤面包机上方，右侧机械臂在白色烤面包机上方。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品白色烤面包机启动按钮位于白色烤面包机正面，其相对于左右... |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__2118fb58295aac9b7058a920aae99d7f.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Provide the ego vehicle's speed after 1 second... | {
"answer": "The projected speed of the ego vehicle after 1 second is 7.06 m/s.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/362/662687/Grasp the waistband of light blue denim shorts with both hands and fold it down to the legs_/00050.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/662687/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，右侧机械臂在裤腰的右侧。左侧机械臂夹持器处于闭合状态，右侧机械臂夹持器处于闭合状态。目标物品（裤腰）位于短裤腿部的上方，腿部在左右机械臂的下方。左右机械臂分别夹住裤腰的左右两侧，正将其向下折叠至腿部位置。\nimg2: 左侧机械臂在浅蓝色牛仔短裤左侧，右侧机械臂在浅蓝色牛仔短裤右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合，均夹住短裤的腰band部分。目标物品浅蓝色牛仔短裤的腰band位于左右机械臂之间，腿部部分在左右机械臂下方... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002793.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the number of red things greater than the number of big gray metallic blocks?",
... | {
"answer": "yes",
"closer to completion": null,
"spatial details": null
} |
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