messages listlengths 1 1 | target dict |
|---|---|
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000410.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is there any other thing that has the same color as the ball?",
"type": "text... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/389/691364/Place the held cheese stick into the shopping cart_/00050.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/389/691364/Place the held cheese stick into the shopping cart_/00036.... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 右侧机械臂位于购物车上方，其夹持器闭合，夹住奶酪棒，奶酪棒处于购物车正上方；左侧机械臂位于购物车左侧，夹持器张开。购物车位于右侧机械臂下方，奶酪棒相对于右侧机械臂被夹持，相对于购物车在其上方。\nimg2: 左侧机械臂在购物车上方，右侧机械臂在购物车右侧。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。目标物品cheese stick在购物车内部，位于左侧机械臂下方，在购物车内部。购物车在左侧机械臂下方，在右侧机械臂左侧。"
} |
[
{
"content": [
{
"image": "trainset/384/659077/Push the misplaced book on the shelf to the end with your right arm_/00070.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/659077/Push the misplaced book on the shelf to t... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在书架左侧，位于目标书（错位的书）的左上方，夹持器状态为张开。右侧机械臂在目标书的右侧，其夹持器与目标书右侧面接触，状态为张开。目标书位于书架中间层，处于未到书架末端的位置，左侧机械臂在其左上方，右侧机械臂在其右侧。书架位于左右机械臂之间，左侧机械臂在书架左侧，右侧机械臂在书架前方偏右位置。\nimg2: 左侧机械臂在书架左侧，未接触物品。右侧机械臂在书架前方，其夹持器位于错位书的右侧。左侧机械臂夹持器张开（空闲时指尖未完全并拢）。右侧机械臂夹持器张开（夹爪... |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__bab2fd44de054f72fbf9ff25f58638e5.jpg",
"image_id": null,
"text": null,
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},
{
"image": null,
"image_id": null,
"text": "Report the absolute speed for the object at bo... | {
"answer": "After 1 second, the absolute speed of the object at bounding box [2063, 773, 2879, 1229] will be 7.02 m/s.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/354/665642/Retrieve from the shelf_/00008.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/354/665642/Retrieve from the shelf_/00000.jpg",
"image_id": "img2",
"text": null... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在货架左侧，其夹持器位于目标物品前方，处于张开状态；右侧机械臂在货架右侧，位于目标物品的右方，夹持器处于闭合状态。目标物品放置在货架中层，位于左侧机械臂的右方、右侧机械臂的左方。货架位于左右机械臂之间，左侧机械臂正准备从货架上抓取目标物品。\nimg2: 左侧机械臂在货架前方，位于目标物品正前方；右侧机械臂在货架右侧，位于目标物品右方。左侧机械臂夹持器呈张开状态，夹爪指尖与目标物品间存在间隙；右侧机械臂夹持器呈闭合状态，指尖完全并拢处于空闲状态。目标物品位于... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002947.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What number of objects are either large red matte cubes or matte objects behind the l... | {
"answer": "1",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/356/660023/Grasp the left arm with white plastic bag_/00006.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/660023/Grasp the left arm with white plastic bag_/00011.jpg",
"ima... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在带白色塑料袋的左臂前方，其夹持器已物理接触并夹住该左臂，状态为闭合；右侧机械臂在带白色塑料袋的左臂右侧，夹持器指尖未完全并拢且未接触物体，状态为张开。带白色塑料袋的左臂在左侧机械臂后方，在右侧机械臂左侧；白色塑料袋位于左臂末端，包裹左臂下部分区域。某物品（带白色塑料袋的左臂）在左侧机械臂和右侧机械臂之间，左侧机械臂正夹持该左臂完成抓取动作。\nimg2: 左侧机械臂在目标物品（带有白色塑料袋的左臂）前方，右侧机械臂在目标物品右侧。左侧机械臂夹持器状态为张开... |
[
{
"content": [
{
"image": "trainset/414/692523/Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger_/00016.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/414/692523/Lift the right arm to ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在左侧塑料衣架旁边，右侧机械臂在目标塑料衣架（右侧的）上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标塑料衣架在左侧塑料衣架的右侧，左侧塑料衣架在左侧机械臂的右侧、右侧机械臂的左侧。\nimg2: 左侧机械臂在左侧塑料衣架上方，右侧机械臂在目标塑料衣架（右侧的塑料衣架）正上方。左侧机械臂夹持器处于张开状态，右侧机械臂夹持器呈张开状态，指尖与目标塑料衣架间存在空隙。目标塑料衣架在另一个塑料衣架的右侧，位于右侧机械臂的下方。另一个塑料衣架在左侧... |
[
{
"content": [
{
"image": "trainset/352/663458/Place the cheese stick held in the left arm on the table_/00098.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/663458/Place the cheese stick held in the left arm on the t... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于桌子上方，奶酪棒被其夹持器闭合夹住，奶酪棒处于桌子正上方。右侧机械臂位于桌子右侧，其夹持器呈张开状态。奶酪棒相对于左侧机械臂处于被夹持状态，相对于桌子处于上方位置；桌子位于左右机械臂的下方。\nimg2: 左侧机械臂在桌子上方，其夹持器处于张开状态。奶酪棒位于桌子表面，在左侧机械臂正下方。右侧机械臂在桌子右侧，其夹持器处于张开状态。奶酪棒相对于左侧机械臂位于下方，相对于桌子位于表面。桌子位于左侧机械臂和奶酪棒的下方，右侧机械臂在桌子右侧且未接触其他物品。... |
[
{
"content": [
{
"image": "trainset/380/686281/Place the held crispy potato chips into the cardboard box_/00192.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/686281/Place the held crispy potato chips into the cardboa... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在纸箱左侧，右侧机械臂在纸箱上方。右侧机械臂夹持器闭合，正夹住目标物品薯片；左侧机械臂夹持器张开。目标物品薯片位于右侧机械臂夹持器下方，且处于纸箱开口正上方。纸箱位于左右机械臂之间的下方，其开口朝上。纸箱相对于左侧机械臂在右侧，相对于右侧机械臂在下方。\nimg2: 左侧机械臂在纸板箱上方，其夹持器闭合，正夹持着目标物品（酥脆薯片）；右侧机械臂在纸板箱右侧，其夹持器张开。目标物品（酥脆薯片）位于左侧机械臂夹持器中，处于纸板箱上方；纸板箱位于左侧机械臂下方、右... |
[
{
"content": [
{
"image": "trainset/410/659933/Lift the left arm with white kettle_/00019.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/659933/Lift the left arm with white kettle_/00006.jpg",
"image_id": "img... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在白色水壶周围，其夹持器闭合，已物理接触并夹住白色水壶，且白色水壶被抬起至桌面上方。右侧机械臂在桌面右侧，其夹持器张开，未接触任何物体。白色水壶位于左侧机械臂夹持范围内，在桌面上方；桌面作为某物品，位于左右机械臂下方。任务关键物品布局为：左侧机械臂夹持白色水壶并抬起，右侧机械臂在旁未参与。\nimg2: 左侧机械臂位于白色水壶上方，其夹持器闭合，已物理接触并夹住白色水壶，白色水壶被左侧机械臂抬起，处于某物品（如桌面）上方。右侧机械臂在白色水壶右侧，其夹持器张... |
[
{
"content": [
{
"image": "trainset/390/658234/Lift the small bag assorted jelly on the counter with the left arm_/00110.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/390/658234/Lift the small bag assorted jelly on the c... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在小袋什锦果冻上方，其夹持器闭合，已物理接触并夹住小袋什锦果冻，且小袋什锦果冻已被提起至柜台表面上方。右侧机械臂在柜台右侧，其夹持器张开，未接触任何物品。小袋什锦果冻位于左侧机械臂夹持器中，原放置位置在柜台上，柜台在左右两个机械臂下方。\nimg2: 左侧机械臂在小袋什锦果冻上方，其夹持器闭合，已物理接触并夹住小袋什锦果冻。右侧机械臂在柜台右侧，其夹持器张开。目标物品小袋什锦果冻被左侧机械臂夹持，位于柜台上方；柜台在左右机械臂下方，小袋什锦果冻原放置于柜台上... |
[
{
"content": [
{
"image": "trainset/362/652933/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00061.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/652933/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在米色短裤腰带的左侧，右侧机械臂在米色短裤腰带的右侧。左侧机械臂夹持器闭合，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，位于腿部部分的上方。腿部部分位于米色短裤腰带的下方，在左右机械臂的下方。\nimg2: 左侧机械臂在米色短裤腰带的左侧，右侧机械臂在米色短裤腰带的右侧。左侧机械臂夹持器闭合，已夹住腰带左侧部分；右侧机械臂夹持器闭合，已夹住腰带右侧部分。目标物品腰带位于短裤上方，短裤腿部在腰带下方。左侧机械臂和右侧机械臂分别在腰带的左右两侧，共... |
[
{
"content": [
{
"image": "sqa3D/scene0282_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Am I in the kitchen?",
"type": "text"
}
],
"role": "user"
}
] | {
"answer": "no",
"closer to completion": null,
"spatial details": null
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[
{
"content": [
{
"image": "trainset/362/665800/Grasp the lower pant leg and waistband of black shorts and fold them over the upper pant leg and waistband_/00024.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/665800/Gr... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在黑色短裤下裤腿的上方，夹持器闭合夹住下裤腿；右侧机械臂在黑色短裤腰带的右侧，夹持器闭合夹住腰带。黑色短裤平铺于操作台上，上裤腿位于下裤腿的上方，下裤腿在左侧机械臂作用下被提起并向右侧折叠，靠近上裤腿。操作台位于左右机械臂的下方，支撑黑色短裤。\nimg2: 左侧机械臂在黑色短裤下裤腿上方，夹持器闭合夹住下裤腿；右侧机械臂在黑色短裤腰带上方，夹持器闭合夹住腰带。黑色短裤上裤腿位于下裤腿和腰带下方，下裤腿和腰带被左右机械臂夹起并处于上裤腿上方，两者相对于上裤腿... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000329.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a shiny cylinder that is the same size as the purple shiny cube; what is its... | {
"answer": "gray",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/385/682158/Retrieve potato from the shelf_/00090.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/385/682158/Retrieve potato from the shelf_/00078.jpg",
"image_id": "img2",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在货架上方，其夹持器闭合，已物理接触并夹住货架上的土豆；右侧机械臂在货架右侧，夹持器张开，夹爪指尖未并拢且与物体间有空隙。目标物品土豆位于货架上表面，在左侧机械臂夹持器正下方，右侧机械臂左侧。货架在左右机械臂前方，支撑着土豆，土豆处于左侧机械臂可抓取范围内，右侧机械臂未接触土豆。\nimg2: 左侧机械臂在架子前方、土豆上方，右侧机械臂在架子右侧、土豆旁边。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。目标物品土豆位于架子中间层，在左侧机械臂下方、右侧机械臂左... |
[
{
"content": [
{
"image": "trainset/421/679746/Lift the cup on the table with the left arm_/00021.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/679746/Lift the cup on the table with the left arm_/00016.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；杯子位于桌子上方，被左侧机械臂夹持并部分抬离桌面。右侧机械臂在桌子右侧，其夹持器张开。桌子位于左右机械臂下方，杯子原放置于桌面上，当前处于被左侧机械臂提升的状态。\nimg2: 左侧机械臂夹持器已物理接触并夹住杯子，夹持器状态为闭合；杯子被左侧机械臂夹持并抬升至桌子上方。右侧机械臂位于桌子右侧，夹持器指尖未完全并拢且未接触物体，状态为张开。杯子相对于左侧机械臂处于被夹持状态，相对于右侧机械臂在其左侧；桌子位于左... |
[
{
"content": [
{
"image": "DAQUAR/image69.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "how many pink bags are there",
"type": "text"
}
],
"role": "user"
}
] | {
"answer": "1",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/421/689169/Lift the cup on the table with the left arm_/00012.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/689169/Lift the cup on the table with the left arm_/00025.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于杯子上方，其夹持器正对杯子；右侧机械臂位于桌子右侧，远离杯子。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（未夹住物体且指尖未完全并拢）。目标物品杯子位于左侧机械臂下方、桌子表面上方（已被抬起），右侧机械臂左侧。桌子位于左侧机械臂和右侧机械臂下方，支撑原杯子位置。\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。右侧机械臂位于桌子右侧，其夹持器张开。目标物品杯子被左侧机械臂夹持，处于桌子上方。桌... |
[
{
"content": [
{
"image": "trainset/410/679691/Pour the water from the held golden kettle into the nearby cup_/00055.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/679691/Pour the water from the held golden kettle int... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在杯子上方，其夹持器闭合并夹住金色水壶，水壶壶嘴朝向杯子。右侧机械臂在杯子右侧，其夹持器张开。金色水壶被左侧机械臂持有，位于杯子正上方，杯子在水壶下方，处于可接收倒水的位置。\nimg2: 左侧机械臂在杯子上方，其夹持器闭合，夹住金色水壶；右侧机械臂在杯子右侧，其夹持器张开。金色水壶位于左侧机械臂夹持器中，杯子在左侧机械臂下方、水壶正下方，处于可接收倒水的位置。"
} |
[
{
"content": [
{
"image": "trainset/414/676321/Grasp the right collar with the right arm_/00150.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/414/676321/Grasp the right collar with the right arm_/00155.jpg",
"ima... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在衣物左侧上方，夹持器张开。右侧机械臂在右侧衣领正前方，夹持器闭合，其夹爪已物理接触并夹住右侧衣领。目标物品右侧衣领位于右侧机械臂夹持器之间，衣物整体在左侧机械臂右侧和右侧机械臂左侧。\nimg2: 左侧机械臂在衣物左侧上方，夹持器呈张开状态。右侧机械臂在右侧衣领前方，夹持器闭合，已物理接触并夹住右侧衣领。右侧衣领位于衣物上部右侧，衣物主体在左右机械臂之间下方。左侧机械臂在衣物左侧，右侧机械臂在衣物右侧且与右侧衣领紧密接触。"
} |
[
{
"content": [
{
"image": "trainset/362/663539/Grasp the waistband of black shorts with both hands and fold it down to the legs_/00092.jpg",
"image_id": "img1",
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"type": "image"
},
{
"image": "trainset/362/663539/Grasp the waistband of black... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在黑色短裤裤腰的左侧，右侧机械臂在黑色短裤裤腰的右侧。左侧机械臂夹持器闭合，夹住裤腰左侧部分；右侧机械臂夹持器闭合，夹住裤腰右侧部分。黑色短裤位于左右机械臂下方，其裤腿部分在裤腰下方，左右机械臂共同将夹持的裤腰向下折叠至裤腿上方。\nimg2: 左侧机械臂在黑色短裤裤腰的左侧，右侧机械臂在黑色短裤裤腰的右侧。左侧机械臂夹持器闭合，已夹住黑色短裤的裤腰部分；右侧机械臂夹持器闭合，已夹住黑色短裤的裤腰部分。黑色短裤的裤腰被左右机械臂共同夹持，裤腿部分在裤腰的下方... |
[
{
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{
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},
{
"image": null,
"image_id": null,
"text": "Which is closer to my position the bench or the rack stand?",
"type": "text"
... | {
"answer": "rack stand",
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"spatial details": null
} |
[
{
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{
"image": "trainset/390/655563/Lift the gummy candy on the counter with the left arm_/00089.jpg",
"image_id": "img1",
"text": null,
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},
{
"image": "trainset/390/655563/Lift the gummy candy on the counter with the left arm_/... | {
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"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在柜台上方，其夹持器闭合，已物理接触并夹住软糖。右侧机械臂在柜台右侧，夹持器张开，未接触任何物体。目标物品软糖位于左侧机械臂夹持器内，处于柜台上方。柜台位于左右机械臂下方，是软糖初始放置的位置。左侧机械臂通过闭合夹持器将软糖从柜台抬起，右侧机械臂在柜台右侧处于空闲状态。\nimg2: 左侧机械臂位于柜台上方，其夹持器闭合，已物理接触并夹住柜台上的软糖；右侧机械臂位于柜台右侧，其夹持器张开，未接触软糖。目标物品软糖被左侧机械臂夹持，处于柜台上方位置，相对于左侧... |
[
{
"content": [
{
"image": "sqa3D/scene0329_00_bird.png",
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},
{
"image": null,
"image_id": null,
"text": "What is on the wall behind me?",
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}
],
"role": "us... | {
"answer": "whiteboard",
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} |
[
{
"content": [
{
"image": "trainset/361/692282/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00140.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/692282/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；目标物品浅蓝色牛仔短裤位于某放置面上方，某放置面在左右机械臂下方；短裤被左右机械臂从两侧夹持，处于被展平的状态。\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。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈张开状态。目标物品浅蓝色牛仔短裤位于工作台上方，左右机械臂... |
[
{
"content": [
{
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},
{
"image": null,
"image_id": null,
"text": "How many file cabinet are on the left?",
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}
],
"ro... | {
"answer": "one",
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} |
[
{
"content": [
{
"image": "trainset/362/652284/Grasp the lower pant leg and waistband of beige shorts and fold them over the upper pant leg and waistband_/00025.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/652284/Gr... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在米色短裤下裤腿的上方，夹持器闭合，已夹住下裤腿；右侧机械臂在米色短裤裤腰的右侧，夹持器闭合，已夹住裤腰。米色短裤平铺于工作台上，上裤腿和裤腰位于下裤腿和裤腰的上方；工作台位于左右机械臂的下方。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，处于待折叠至上裤腿和裤腰处的状态。\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，夹住下裤腿；右侧机械臂夹持器闭合，夹住裤腰。米色短裤的下裤腿和裤腰被左右机... |
[
{
"content": [
{
"image": "trainset/359/653994/Retrieve trash bag from left material frame with the left arm_/00007.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/653994/Retrieve trash bag from left material frame wit... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于左侧物料架前方，其夹持器呈张开状态，夹爪与左侧物料架上的垃圾袋间存在空隙。右侧机械臂位于左侧物料架右侧，其夹持器处于闭合状态，指尖完全并拢。目标物品垃圾袋位于左侧物料架内部，在左侧机械臂下方。左侧物料架位于右侧机械臂的左侧。\nimg2: 左侧机械臂位于左侧物料架前方，其夹持器闭合，已物理接触并夹住目标物品垃圾袋；右侧机械臂位于左侧物料架右侧，其夹持器张开。垃圾袋被左侧机械臂夹持，处于左侧物料架前方；左侧物料架位于左侧机械臂后方，右侧机械臂在左侧物料架右... |
[
{
"content": [
{
"image": "trainset/390/662487/Place the barcode scanner back on the counter_/00157.jpg",
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"text": null,
"type": "image"
},
{
"image": "trainset/390/662487/Place the barcode scanner back on the counter_/00141.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 右侧机械臂位于条码扫描器正上方，其夹持器处于张开状态；左侧机械臂位于条码扫描器左侧，其夹持器也处于张开状态。目标物品条码扫描器已放置在柜台上，位于柜台表面，条码扫描器在右侧机械臂的正下方，在左侧机械臂的右侧。柜台作为支撑面，条码扫描器稳定置于其上方，左右机械臂均未接触条码扫描器。\nimg2: 左侧机械臂位于柜台左侧，右侧机械臂位于条形码扫描器上方。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，在右侧机械臂的正下方。柜台位于左... |
[
{
"content": [
{
"image": "trainset/356/657507/Grasp the left arm with white plastic bag_/00018.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/657507/Grasp the left arm with white plastic bag_/00013.jpg",
"ima... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于带有白色塑料袋的左臂（目标物品）上方，其夹持器状态为张开，指尖与白色塑料袋表面存在间隙。右侧机械臂在目标物品右侧，夹持器处于闭合状态（指尖完全并拢）。目标物品位于某平台（某物品）上方，该平台在左右机械臂下方。目标物品在左侧机械臂正下方，在右侧机械臂左侧。某平台支撑目标物品，处于左右机械臂的下方空间。\nimg2: 左侧机械臂在带有白色塑料袋的左臂上方，右侧机械臂在带有白色塑料袋的左臂右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器张开。带有白色塑料袋的左臂位... |
[
{
"content": [
{
"image": "trainset/361/687122/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00119.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/687122/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，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工作台表面，处于被左右机械臂向两侧拉伸的状态，工作台在左右机械臂下方。\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，处于被左右机械臂向两侧拉伸的状... |
[
{
"content": [
{
"image": "trainset/361/682419/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00085.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/682419/Smooth out a messy light blue de... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤的左侧边缘处，右侧机械臂在浅蓝色牛仔短裤的右侧边缘处。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。浅蓝色牛仔短裤位于左右机械臂之间，且处于左右机械臂下方的平面上，相对于左侧机械臂位于其右侧，相对于右侧机械臂位于其左侧。左右机械臂通过夹持短裤两侧边缘向外侧拉伸，以展平短裤。\nimg2: 左侧机械臂在浅蓝色牛仔短裤左侧边缘上方，右侧机械臂在浅蓝色牛仔短裤右侧边缘上方。左侧机械臂夹持器闭... |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__53a892d973d50b0f1be80c0f37671ed9.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What will the ego vehicle's speed be after 2 s... | {
"answer": "The ego vehicle will be moving at 11.22 m/s after 2 seconds.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__1035a63c79a4b428b4e1e5d44bf69b42.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "How fast is the object at bounding box [2653, ... | {
"answer": "The absolute speed of the object at bounding box [2653, 927, 2879, 1323] is 8.10 m/s.",
"closer to completion": null,
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} |
[
{
"content": [
{
"image": "trainset/361/687607/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00110.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/687607/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，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。目标物品浅蓝色牛仔短裤位于支撑面上方，支撑面在左右机械臂下方。短裤被左右机械臂从两侧夹持并向外侧拉伸，处于被展平的状态。\nimg2: 左侧机械臂在浅蓝色牛仔短裤左侧上方，右侧机械臂在短裤右侧上方。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品浅蓝色牛仔短裤位于平面上方，平面在左右机械臂下方。短裤被左侧机械臂... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002939.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What color is the matte thing that is the same size as the gray matte cylinder?",
... | {
"answer": "brown",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/359/687528/Pass the toilet cleaner with both hands_/00056.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/687528/Pass the toilet cleaner with both hands_/00043.jpg",
"image_i... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在马桶清洁剂左侧，夹持器张开；右侧机械臂在马桶清洁剂右侧，夹持器闭合。马桶清洁剂位于桌面上方，桌面在左右机械臂下方。左侧机械臂在桌面上方，右侧机械臂也在桌面上方。目标物品马桶清洁剂在左侧机械臂右侧、右侧机械臂左侧，被右侧机械臂夹持。桌面作为某物品，在左右机械臂下方，支撑马桶清洁剂。\nimg2: 左侧机械臂在马桶清洁剂上方，其夹持器闭合，已物理接触并夹住马桶清洁剂。右侧机械臂在马桶清洁剂右侧，其夹持器张开，夹爪呈钳形准备抓取，指尖与马桶清洁剂间存在空隙。马桶... |
[
{
"content": [
{
"image": "trainset/372/663781/Place the grasped bottled ad calcium milk into red canvas tote bag_/00108.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/372/663781/Place the grasped bottled ad calcium milk ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 右侧机械臂夹持器闭合状态，夹住瓶装AD钙奶，位于红色帆布手提袋上方；左侧机械臂夹持器张开状态，位于红色帆布手提袋左侧。瓶装AD钙奶被右侧机械臂夹持，处于红色帆布手提袋上方；红色帆布手提袋位于左侧机械臂右侧及右侧机械臂下方位置处。\nimg2: 左侧机械臂在红色帆布手提袋左侧，其夹持器状态为张开。右侧机械臂在红色帆布手提袋上方，其夹持器状态为闭合，正夹持瓶装AD钙奶。目标物品瓶装AD钙奶位于右侧机械臂夹爪中，处于红色帆布手提袋上方。红色帆布手提袋位于右侧机械臂下方，在左... |
[
{
"content": [
{
"image": "sqa3D/scene0447_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is there a toilet on my right?",
"type": "text"
}
],
"role": "us... | {
"answer": "yes",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/421/688109/Grasp the cloth on the table and wipe the stain_/00052.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/688109/Grasp the cloth on the table and wipe the stain_/00064.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。左侧机械臂夹持器张开，右侧机械臂夹持器张开。布在桌子上，位于左侧机械臂的下方、右侧机械臂的左侧。桌子在左右机械臂的下方，污渍在桌子上靠近布的位置。\nimg2: 左侧机械臂在桌子上方，位于布的正上方；右侧机械臂在桌子右侧，位于污渍的左侧。左侧机械臂夹持器状态为张开；右侧机械臂夹持器状态为闭合。目标物品布在桌子表面，位于左侧机械臂的下方；污渍在桌子表面，位于布的右侧，右侧机械臂的左侧。桌子位于左右机械臂的下方，布和污渍均放置... |
[
{
"content": [
{
"image": "trainset/352/653181/Open the refrigerator door with the left arm_/00016.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/653181/Open the refrigerator door with the left arm_/00002.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于冰箱门前方，其夹持器闭合，夹住冰箱门把手；右侧机械臂位于冰箱右侧，夹持器张开。冰箱门相对于左侧机械臂在其前方，冰箱主体位于左侧机械臂后方、右侧机械臂左侧。目标物品冰箱门被左侧机械臂夹持，处于待打开状态，右侧机械臂未参与当前任务，处于空闲位置。\nimg2: 左侧机械臂位于冰箱门前方，其夹持器闭合（夹住冰箱门）；右侧机械臂位于冰箱本体右侧，其夹持器张开。目标物品冰箱门位于冰箱本体前方，左侧机械臂在冰箱门前方并与之物理接触；冰箱本体位于左右机械臂前方，右侧机... |
[
{
"content": [
{
"image": "sqa3D/scene0487_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "If I want to stretch out, where can I put my feet in front of me?",
"type": "t... | {
"answer": "table",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__4e2f0b69d16d4516431a4572ff3d1d8d.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "How far apart are the ego vehicle and the obje... | {
"answer": "the object at bounding box [1558, 821, 1609, 961] is 26.97 meters away from the ego vehicle.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/446/691154/Lower the grasped white table with both arms in coordination_/00066.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/446/691154/Lower the grasped white table with both arms in ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在白色桌子的左侧，右侧机械臂在白色桌子的右侧。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。目标物品白色桌子被左右机械臂共同夹持，位于支撑面上方。支撑面在左右机械臂的下方，白色桌子在支撑面上方，左右机械臂通过协调动作将其向支撑面方向降低。\nimg2: 左侧机械臂在白色桌子的左侧，右侧机械臂在白色桌子的右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品白色桌子位于地面上方，且被左右机械臂从两侧夹持。地面位于白色桌子的下方，左右机械臂均在地面... |
[
{
"content": [
{
"image": "DAQUAR/image506.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "what is in the door",
"type": "text"
}
],
"role": "user"
}
] | {
"answer": "door_knob",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/327/683946/Retrieve cucumber from the shelf_/00008.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/327/683946/Retrieve cucumber from the shelf_/00016.jpg",
"image_id": "img2",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于货架前方，右侧机械臂位于黄瓜上方。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。目标物品黄瓜位于货架中层，在左侧机械臂右侧、右侧机械臂下方。货架位于左右机械臂后方，黄瓜放置于货架的水平表面上。\nimg2: 左侧机械臂在黄瓜上方，右侧机械臂在货架右侧。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。黄瓜在货架上层，位于左侧机械臂下方、右侧机械臂左侧。货架在左右机械臂前方，黄瓜放置于货架表面。"
} |
[
{
"content": [
{
"image": "trainset/361/672507/Smooth out a messy black shorts with both arms and spread it flat_/00056.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/672507/Smooth out a messy black shorts with both a... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在黑色短裤左侧上方，右侧机械臂在黑色短裤右侧上方。左侧机械臂夹持器闭合，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。黑色短裤位于左右机械臂之间的下方，平铺在某平面上，该平面在左右机械臂正下方。\nimg2: 左侧机械臂在黑色短裤的左侧边缘处，夹持器闭合夹住短裤左侧部分；右侧机械臂在黑色短裤的右侧边缘处，夹持器闭合夹住短裤右侧部分。黑色短裤位于工作台上方，处于左右机械臂之间，整体呈被向两侧拉伸的状态。工作台在左右机械臂的下... |
[
{
"content": [
{
"image": "trainset/362/670428/Grasp the lower pant leg and waistband of beige shorts and fold them over the upper pant leg and waistband_/00041.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/670428/Gr... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在米色短裤下裤腿上方，夹持器闭合夹住下裤腿；右侧机械臂在米色短裤裤腰右侧，夹持器闭合夹住裤腰。米色短裤平铺于工作台表面，上裤腿位于下裤腿上方，左右机械臂分别夹持下裤腿和裤腰，处于将其折叠至上裤腿的过程中。工作台位于左右机械臂下方，支撑着米色短裤。\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腰带的右侧。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，已夹住腰带。米色短裤平铺于工作台面上，下裤腿在上方，腰带在下方，整体位于... |
[
{
"content": [
{
"image": "trainset/384/683191/Lift the horizontally placed book on the shelf with the right arm_/00027.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/683191/Lift the horizontally placed book on the sh... | {
"answer": null,
"closer to completion": "img2",
"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，右侧机械臂夹持器已物理接触并夹住书，处于闭合状态。目标物品书水平放置在书架上，位于右侧机械臂的下方、左侧机械臂的右侧。书架位于左侧机械臂的右侧，右侧机械臂的后方。\nimg2: 左侧机械臂在书架左侧，其夹持器处于张开状态。右侧机械臂位于书架前方，其夹持器闭合且物理接触并夹住水平放置的书，书被抬起至书架上方。目标物品书位于右侧机械臂夹持器中，在书架上方；书架位于左侧机械臂右侧、右侧机... |
[
{
"content": [
{
"image": "trainset/440/689942/Stretch the left arm to the bottom seam of the garment_/00122.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/440/689942/Stretch the left arm to the bottom seam of the garment... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂伸展至衣物底部接缝处，其夹持器位于衣物底部接缝的正前方。右侧机械臂位于衣物的上方偏右侧位置。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。目标物品衣物平铺于工作台上，底部接缝朝向左侧机械臂，衣物位于左侧机械臂的前方、右侧机械臂的下方。工作台位于左右两个机械臂的下方，衣物放置于工作台表面。\nimg2: 左侧机械臂位于服装底部接缝的正前方，其夹持器处于张开状态。右侧机械臂位于服装上方偏右侧位置，夹持器呈张开状态。服装的底部接缝位于左侧机械臂夹持器的正... |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__9f9d3a3d6b6cdd69f2957796e2829730.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Indicate how many meters per second the ego ve... | {
"answer": "After 1 second, the ego vehicle's speed will be 7.43 m/s.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/361/670423/Smooth out a messy green shorts with both arms and spread it flat_/00102.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/670423/Smooth out a messy green shorts with both a... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在绿色短裤的左侧，夹持器闭合夹住短裤左边缘。右侧机械臂在绿色短裤的右侧，夹持器闭合夹住短裤右边缘。绿色短裤位于工作台上方，工作台在左右机械臂的下方。绿色短裤相对于左侧机械臂在其右侧，相对于右侧机械臂在其左侧。工作台相对于左右机械臂均在下方，支撑着绿色短裤。左右机械臂分别从短裤两侧夹持，处于抚平并铺平的状态。\nimg2: 左侧机械臂在绿色短裤左侧上方，右侧机械臂在绿色短裤右侧上方。左侧机械臂夹持器闭合，夹住绿色短裤左边缘；右侧机械臂夹持器闭合，夹住绿色短裤右... |
[
{
"content": [
{
"image": "trainset/361/682356/Smooth out a messy retro blue jeans with both arms and spread it flat_/00030.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/682356/Smooth out a messy retro blue jeans wit... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 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。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈张开状态。复古蓝色牛仔裤位于左右机械臂之间的下方，且平铺在工作台表面，工作台位于左右机械臂的下方。牛仔裤整体处于左右机械臂可操作范围内，左右机械臂分别对应牛仔裤的左右两侧，夹持器未夹住牛仔裤，处于正在抚平的过程中。\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。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张... |
[
{
"content": [
{
"image": "trainset/385/681212/Retrieve pomegranate from the shelf_/00099.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/385/681212/Retrieve pomegranate from the shelf_/00104.jpg",
"image_id": "img... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在石榴上方，右侧机械臂在石榴右侧。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器闭合。石榴位于架子中层，在左侧机械臂正下方、右侧机械臂左侧。架子在左右机械臂前方，石榴放置于架子表面，左侧机械臂与石榴垂直距离较近，处于准备抓取位置。\nimg2: 左侧机械臂位于货架左侧，右侧机械臂位于石榴上方。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。目标物品石榴位于货架上，在左侧机械臂右侧、右侧机械臂下方。货架位于左右两个机械臂前方。"
} |
[
{
"content": [
{
"image": "trainset/359/680600/Retrieve clothes hanger with the right arm from right material frame_/00109.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/680600/Retrieve clothes hanger with the right a... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在右侧物料架的左侧，夹持器呈张开状态。右侧机械臂位于右侧物料架的前方，其夹持器闭合，已夹住衣架；衣架原位于右侧物料架上，现处于右侧机械臂夹爪中。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，未接触目标物品。右侧机械臂位于右侧物料架的前方，其夹持器正对物料架内的衣架。右侧机械臂夹持器处于张开状态，夹爪指尖与衣架之间存在空隙。目标物品衣架位于右侧物料架的内部，在右侧机械臂的正前方。右侧物料架在右侧机械臂的后方，左... |
[
{
"content": [
{
"image": "trainset/359/692575/Pass the cotton swab with both hands_/00030.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/692575/Pass the cotton swab with both hands_/00041.jpg",
"image_id": "i... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于右侧机械臂的左侧，其夹持器处于闭合状态，已夹住棉签；右侧机械臂位于左侧机械臂的右侧，其夹持器处于张开状态，夹爪呈钳形准备抓取棉签。棉签被左侧机械臂夹持，位于左右两个机械臂之间，且在下方某平台的上方。该平台位于左右两个机械臂的下方，作为任务操作的支撑面。\nimg2: 左侧机械臂在棉签上方，其夹持器闭合，物理接触并夹住棉签。右侧机械臂在棉签右侧，其夹持器张开，指尖与棉签间存在空隙。目标物品棉签被左侧机械臂夹持，位于右侧机械臂的左侧。某物品（放置棉签的平台）... |
[
{
"content": [
{
"image": "trainset/366/658647/Place the packaged concentrated coffee liquid held in the left arm into the left blue target box_/00085.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/366/658647/Place the pa... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在左侧蓝色目标盒上方，其夹持器闭合，正夹持包装浓缩咖啡液。右侧机械臂在左侧蓝色目标盒右侧，夹持器张开。包装浓缩咖啡液位于左侧机械臂夹持器中，处于左侧蓝色目标盒上方。左侧蓝色目标盒放置在工作台上，左侧机械臂位置使其可将目标物品放入盒内。\nimg2: 左侧机械臂在左侧蓝色目标盒上方，其夹持器闭合，正夹持着包装好的浓缩咖啡液。右侧机械臂在左侧蓝色目标盒右侧，其夹持器张开。目标物品（包装好的浓缩咖啡液）位于左侧机械臂夹持器中，且处于左侧蓝色目标盒的正上方。左侧蓝色... |
[
{
"content": [
{
"image": "trainset/421/688577/Grasp the cloth on the table and wipe the stain_/00035.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/688577/Grasp the cloth on the table and wipe the stain_/00040.jpg",
... | {
"answer": null,
"closer to completion": "img2",
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... | {
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"spatial details": "\nimg1: 左侧机械臂在货架前方，其夹持器位于葡萄上方；右侧机械臂在货架右侧，夹持器位于葡萄旁边。左侧机械臂夹持器状态为张开；右侧机械臂夹持器状态为闭合。目标物品葡萄被右侧机械臂夹持，位于货架前方；货架在左右机械臂后方。\nimg2: 左侧机械臂在葡萄上方，其夹持器闭合，已物理接触并夹住葡萄；右侧机械臂在葡萄右侧，夹持器张开，指尖与葡萄间存在空隙。葡萄原位于架子中层，现被左侧机械臂夹持并带离架子表面，处于架子前方；架子在左右两个机械臂前方，葡萄相对于右侧机械臂位于左侧，相对于左侧... |
[
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"spatial details": "\nimg1: 左侧机械臂位于纸盒左侧，其夹持器状态为张开；右侧机械臂位于纸盒上方，夹持器状态为闭合，夹爪正物理接触并夹住棉签，棉签被右侧机械臂夹持且处于纸盒开口正上方；纸盒放置在工作面上，位于左侧机械臂右侧和右侧机械臂正下方。\nimg2: 右侧机械臂在纸盒上方，其夹持器闭合，正夹持着棉签；左侧机械臂在纸盒左侧，夹持器张开。目标物品棉签被右侧机械臂夹持，位于纸盒正上方；纸盒位于右侧机械臂下方、左侧机械臂右侧。关键物品布局为：纸盒放置在工作台上，右侧机械臂持棉签处于纸盒上方，左侧机械... |
[
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"spatial details": "\nimg1: 左侧机械臂位于冰箱内部，在绿色盒装柠檬茶上方，其夹持器呈张开状态。右侧机械臂在冰箱右侧，夹持器处于闭合状态。绿色盒装柠檬茶位于冰箱内部，在左侧机械臂下方。冰箱位于左侧机械臂前方，在右侧机械臂左侧。\nimg2: 左侧机械臂伸入冰箱内部，位于绿色盒装柠檬茶正前方；右侧机械臂在冰箱右侧，未靠近目标物品。左侧机械臂夹持器闭合，已物理接触并夹住绿色盒装柠檬茶；右侧机械臂夹持器张开，指尖未并拢。绿色盒装柠檬茶位于冰箱内部中层隔架，在左侧机械臂夹持下，处于冰箱内部空间；冰箱在左右... |
[
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[
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"image": "trainset/362/665884/Gr... | {
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"spatial details": "\nimg1: 左侧机械臂位于黑色短裤下裤腿的左侧，右侧机械臂位于黑色短裤裤腰的右侧。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，已夹住裤腰。黑色短裤位于左右机械臂之间，下裤腿在下方，裤腰在上方，左右机械臂正将下裤腿和裤腰向上裤腿和裤腰的方向移动，下裤腿和裤腰处于待折叠到上裤腿和裤腰上方的位置。\nimg2: 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右侧，夹持器闭合，已夹住腰带。黑色短裤位于某物品（如工作台面）上方，某物品在左右... |
[
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... | {
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"image": "trainset/362/671924/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，夹持器闭合并夹住下裤腿；右侧机械臂位于米色短裤腰带的右侧，夹持器闭合并夹住腰带。米色短裤平铺在某平面上，其下裤腿在左侧机械臂的正下方，腰带在右侧机械臂的左侧。该平面位于左右两个机械臂的下方，支撑着米色短裤，下裤腿与腰带处于待折叠的相对展开状态。\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，已夹住裤腰。米色短裤放置在桌面上，桌面位于左右机... |
[
{
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"image": "trainset/380/665499/Pick up the air column film outside the carton_/00021.jpg",
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... | {
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"spatial details": "\nimg1: 左侧机械臂在气柱膜上方，右侧机械臂在纸箱左侧。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈闭合状态。目标物品气柱膜位于纸箱右侧，处于左侧机械臂正下方、右侧机械臂右侧。纸箱在左侧机械臂左下方、右侧机械臂右侧。气柱膜在纸箱外部，左侧机械臂正处于气柱膜上方准备抓取，右侧机械臂在纸箱左侧未参与当前抓取动作。\nimg2: 左侧机械臂在纸箱上方，右侧机械臂在气柱膜旁边。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈闭合状态（已物理接触并夹住气柱膜）。目标物品气柱膜位于纸箱外侧... |
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"spatial details": "\nimg1: 左侧机械臂位于黑色短裤下裤腿的上方，其夹持器闭合，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内侧拉动，两者处于向折叠至上裤腿和腰带部分的过程中，整体布局显示机械臂正执行折叠动作。\nimg2: 左侧机械臂在黑色短裤下裤腿的上方，右侧机械臂在黑色短裤腰带的右侧。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。黑色短裤位于左侧机械臂的下方和右侧机械臂... |
[
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{
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"text": "Where will the object at bounding box [291, 76... | {
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"spatial details": "\nimg1: 左侧机械臂在红色帆布手提袋的左侧，夹持器状态为张开。右侧机械臂位于红色帆布手提袋的上方，夹持器状态为闭合，夹爪物理接触并夹住小洗发水瓶。小洗发水瓶在右侧机械臂夹持器中，处于红色帆布手提袋的正上方。红色帆布手提袋在右侧机械臂的下方，位于右侧机械臂可放置的空间范围内。\nimg2: 左侧机械臂在红色帆布手提袋的左侧，夹持器张开。右侧机械臂在红色帆布手提袋的上方，夹持器闭合且夹住小洗发水瓶，小洗发水瓶位于红色帆布手提袋的内部。红色帆布手提袋在右侧机械臂的下方，在左侧机械臂的... |
[
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{
"image": "trainset/392/681108/Scrub the gray water bottle held in the left arm with the cup brush in the right arm_/00153.jpg",
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[
{
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{
"image": "trainset/375/655150/Pour the water from gray teapot into the cup_/00074.jpg",
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"text": null,
"type": "image"
},
{
"image": "trainset/375/655150/Pour the water from gray teapot into the cup_/00082.jpg",
... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在杯子左侧，其夹持器状态为张开。右侧机械臂在杯子上方，其夹持器闭合并夹住灰色茶壶，茶壶壶嘴朝向杯子。灰色茶壶位于杯子上方，杯子位于右侧机械臂下方且在左侧机械臂右侧。\nimg2: 左侧机械臂夹持着灰色茶壶，夹持器状态为闭合；灰色茶壶位于杯子的上方，壶嘴朝向杯子。右侧机械臂在杯子的右侧，夹持器状态为张开。杯子位于左侧机械臂的下方，处于灰色茶壶倒出液体的路径下方。"
} |
[
{
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{
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{
"image": null,
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"text": "How many objects are either small purple shiny things that are right of the purple cu... | {
"answer": "2",
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[
{
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{
"image": "trainset/384/662949/Push the misplaced book on the shelf to the end with your right arm_/00095.jpg",
"image_id": "img1",
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},
{
"image": "trainset/384/662949/Push the misplaced book on the shelf to t... | {
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"spatial details": "\nimg1: 左侧机械臂在书架的左侧，右侧机械臂在书架前方且位于错位书的左侧。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品错位的书位于书架中层，在右侧机械臂的右侧，同时在书架该层的起始位置（未到达末端）。书架位于左右机械臂之间，错位的书相对于书架处于未推至末端的位置，右侧机械臂的位置便于向书架末端推动该书。\nimg2: 左侧机械臂在书架左侧上方，夹持器闭合。右侧机械臂在错位书的右侧前方，夹持器张开。目标物品（错位的书）位于书架中间层，书的右侧边缘与书架末端存在... |
[
{
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{
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{
"image": "trainset/360/675642/Grab the yeast bread on the table with the right arm_/00... | {
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"spatial details": "\nimg1: 左侧机械臂在桌子的左侧上方，夹持器张开。右侧机械臂在酵母面包的正上方，夹持器张开。酵母面包位于桌子的表面，在右侧机械臂的下方，在左侧机械臂的右侧。桌子在左右机械臂的下方，支撑着酵母面包。\nimg2: 左侧机械臂在桌子左侧，右侧机械臂在酵母面包上方。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。酵母面包在桌子上方，位于右侧机械臂下方、左侧机械臂右侧。桌子在左侧机械臂右侧、右侧机械臂下方，支撑着酵母面包。"
} |
[
{
"content": [
{
"image": "trainset/414/677567/Grasp the collar with the left arm and lift the garment_/00058.jpg",
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},
{
"image": "trainset/414/677567/Grasp the collar with the left arm and lift the garme... | {
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"spatial details": "\nimg1: 左侧机械臂位于衣领上方，其夹持器闭合，已物理接触并夹住衣领；左侧机械臂将衣物向上抬起，衣物位于左侧机械臂下方。右侧机械臂位于衣物右侧，其夹持器处于张开状态。衣领作为目标物品被左侧机械臂夹持，衣物位于支撑物上方，支撑物位于左右机械臂下方。\nimg2: 左侧机械臂位于衣物衣领的正前方，其夹持器闭合，已物理接触并夹住衣领。右侧机械臂位于衣物主体的右侧，其夹持器张开，未接触衣物。目标物品衣领位于衣物的上部，被左侧机械臂夹持并处于轻微抬起状态，衣物主体位于左侧机械臂的下方和右... |
[
{
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{
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{
"image": "trainset/352/660352/Open the refrigerator door with the left arm_/00013.jpg",
... | {
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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。右侧机械臂在冰箱主体右侧，其夹持器张开，夹爪指尖未完全并拢。冰箱门位于左侧机械臂前方，处于被夹持状态；冰箱主体在左右机械臂后方，冰箱门与冰箱主体相连。右侧机械臂远离冰箱门，未与其他物品接触。\nimg2: 左侧机械臂在冰箱门前方，其夹持器闭合（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（未夹住物体且指尖未完全并拢）。冰箱门位于左侧机械臂前方，右侧机械臂在冰箱右侧。任务相关的关键物品冰箱门被左... |
[
{
"content": [
{
"image": "trainset/359/681996/Retrieve small pack of black tissues with the right arm from right material frame_/00059.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/681996/Retrieve small pack of blac... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在右侧物料架左侧，其夹持器处于张开状态。右侧机械臂在右侧物料架前方，位于目标物品（黑色纸巾小包）上方，其夹持器处于张开状态。黑色纸巾小包位于右侧物料架上，右侧物料架在左侧机械臂右侧、右侧机械臂后方。\nimg2: 左侧机械臂位于右侧物料架左侧，其夹持器处于张开状态。右侧机械臂位于右侧物料架前方，其夹持器闭合，已夹住小包黑色纸巾。小包黑色纸巾被右侧机械臂夹持，位于右侧机械臂夹持器内，相对于右侧物料架，目标物品已从右侧物料架上取出。右侧物料架位于右侧机械臂后方、... |
[
{
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{
"image": "trainset/372/678850/Place the grasped brown doll into blue nylon bag with the right arm_/00147.jpg",
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{
"image": "trainset/372/678850/Place the grasped brown doll into blue ny... | {
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"spatial details": "\nimg1: 右侧机械臂在蓝色尼龙袋上方，其夹持器闭合，正夹持着棕色玩偶；棕色玩偶位于蓝色尼龙袋开口处上方。左侧机械臂在蓝色尼龙袋左侧，其夹持器张开。蓝色尼龙袋放置于工作台上，位于右侧机械臂下方、左侧机械臂右侧。\nimg2: 右侧机械臂在蓝色尼龙袋上方，其夹持器闭合，正夹住棕色玩偶；棕色玩偶位于蓝色尼龙袋上方，处于右侧机械臂夹持器中。左侧机械臂在蓝色尼龙袋左侧，其夹持器张开。蓝色尼龙袋位于左侧机械臂右侧、右侧机械臂下方。"
} |
[
{
"content": [
{
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"text": null,
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{
"image": null,
"image_id": null,
"text": "Is the oven on my left or right?",
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],
"role": "... | {
"answer": "left",
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{
"image": "trainset/356/652669/Place the held bottled french fries into white plastic bag_/00049.jpg",
"image_id": "img1",
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{
"image": "trainset/356/652669/Place the held bottled french fries into white pla... | {
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"spatial details": "\nimg1: 左侧机械臂在白色塑料 bag 左侧，其夹持器状态为张开。右侧机械臂在白色塑料 bag 上方，其夹持器状态为闭合，正夹持着瓶装 french fries。目标物品瓶装 french fries 被右侧机械臂夹持，位于白色塑料 bag 内部上方。白色塑料 bag 位于左侧机械臂右侧、右侧机械臂下方，处于左右机械臂之间的区域。\nimg2: 左侧机械臂位于白色塑料袋上方，其夹持器闭合，正夹持着瓶装薯条；右侧机械臂位于白色塑料袋右侧，其夹持器张开。瓶装薯条被左侧机械臂夹持，处... |
[
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{
"image": "trainset/392/672216/Place the transparent water bottle held in the left arm back onto the table_/00401.jpg",
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"text": null,
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},
{
"image": "trainset/392/672216/Place the transparent water bottl... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在透明水瓶上方，透明水瓶在桌子上方。右侧机械臂在桌子右侧。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: 左侧机械臂在桌子上方，其夹持器处于张开状态。透明水瓶位于左侧机械臂下方，已接触桌面。右侧机械臂在桌子右侧，其夹持器处于张开状态。桌子在左右机械臂下方，透明水瓶相对于桌子处于放置状态，左侧机械臂已完成将水瓶放回桌子的位置调整。"
} |
[
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"content": [
{
"image": "trainset/377/658378/Pick up the air column film outside the carton_/00006.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/658378/Pick up the air column film outside the carton_/00001.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 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，右侧机械臂夹持器呈闭合状态。目标物品气柱膜位于纸箱外侧，在左侧机械臂下方、纸箱旁边。纸箱在右侧机械臂左侧、气柱膜内侧。气柱膜处于左侧机械臂可抓取范围内，纸箱与气柱膜相邻且气柱膜在其外部。\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，右侧机械臂夹持器呈闭合状态。目标物品气柱膜位于纸箱外侧，在左侧机械臂下方且在纸箱旁边。纸箱在左右两个机械臂的下方位置，气柱... |
[
{
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{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__cfd20c13a3b8450ad2b757e8925dd05c.jpg",
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{
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"text": "Report the absolute speed for the object at bo... | {
"answer": "After 1 second, the absolute speed of the object at bounding box [2169, 653, 2561, 1108] will be 11.60 m/s.",
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{
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{
"image": "sqa3D/scene0126_00_bird.png",
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{
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"text": "What color are the boxes?",
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}
],
"role": "user"
... | {
"answer": "brown",
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{
"image": "trainset/421/689107/Grasp the cloth on the table and wipe the stain_/00059.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/689107/Grasp the cloth on the table and wipe the stain_/00050.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在布的上方，右侧机械臂在桌子的右侧。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈闭合状态。目标物品布在桌子上，位于左侧机械臂的正下方；污渍在桌子上，位于布的右侧。桌子位于左侧机械臂和右侧机械臂的下方，布和污渍均放置于桌面上。\nimg2: 左侧机械臂位于布的上方，与布之间存在间隙未接触；右侧机械臂位于桌子的右侧，靠近污渍所在位置。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。目标布处于桌子的表面，位于左侧机械臂的正下方；污渍位于桌子表面，在布的右... |
[
{
"content": [
{
"image": "trainset/361/677683/Smooth out a messy black shorts with both arms and spread it flat_/00070.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/677683/Smooth out a messy black shorts with both a... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在黑色短裤左侧区域上方，右侧机械臂在黑色短裤右侧区域上方。左侧机械臂夹持器闭合，夹住短裤左边缘；右侧机械臂夹持器闭合，夹住短裤右边缘。黑色短裤位于工作台平面上，工作台平面在左右机械臂下方。短裤中部存在褶皱，左右机械臂正通过夹持边缘向两侧拉伸以抚平褶皱。\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。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈张开状态。目标物品黑色短裤位于工作台上方，且处于左右机械臂之间。工作台在黑色短裤下方，左... |
[
{
"content": [
{
"image": "trainset/410/651245/Pour the water from the held white kettle into the nearby cup_/00055.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/651245/Pour the water from the held white kettle into ... | {
"answer": null,
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"spatial details": "\nimg1: 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，水壶口朝向杯子。左侧机械臂位于杯子左侧，夹持器状态为张开。白色水壶被右侧机械臂夹住，杯子在右侧机械臂下方，处于水壶正下方的位置，是接收倒水的目标物品。\nimg2: 右侧机械臂在杯子上方，其夹持器闭合以夹住白色水壶；左侧机械臂在杯子左侧，夹持器张开。白色水壶在杯子正上方，杯子在右侧机械臂下方、左侧机械臂右侧。关键物品布局为右侧机械臂持水壶位于杯子上方，杯子在水壶下方，左右机械臂分别在杯子的上侧和左侧... |
[
{
"content": [
{
"image": "trainset/380/684196/Pick up the air column film outside the cardboard box_/00268.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/684196/Pick up the air column film outside the cardboard box_/... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在纸箱上方，右侧机械臂在气柱膜旁边。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为闭合。目标物品气柱膜位于纸箱外部，在右侧机械臂前方且被其夹持。纸箱在左侧机械臂下方，右侧机械臂左侧。整体布局中，气柱膜处于纸箱外部，右侧机械臂已夹住气柱膜，左侧机械臂处于待操作位置。\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，夹爪指尖与气柱膜之间存在空隙；右侧机械臂夹持器处于张开状态，未接触任何物体。目标物品气柱膜位于纸箱外部，... |
[
{
"content": [
{
"image": "trainset/389/674134/Retrieve the fruit and vegetable juice from the cold storage cabinet_/00019.jpg",
"image_id": "img1",
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"image": "trainset/389/674134/Retrieve the fruit and vegetable juice f... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在冷藏柜前方，位于冷藏柜内某果蔬汁上方；右侧机械臂在冷藏柜右侧，位于已取出的果蔬汁旁边。左侧机械臂夹持器张开；右侧机械臂夹持器闭合，已夹住果蔬汁。目标物品（果蔬汁）被右侧机械臂夹持，位于冷藏柜外部右侧；冷藏柜位于左右机械臂之间，柜门打开。\nimg2: 左侧机械臂在冷藏柜前方，其夹持器位于目标物品（水果和蔬菜汁）上方，夹持器状态为张开。右侧机械臂在冷藏柜右侧，夹持器状态为张开。目标物品位于冷藏柜内部，在左侧机械臂夹持器下方、右侧机械臂左侧。冷藏柜在左侧机械臂... |
[
{
"content": [
{
"image": "trainset/390/649431/Place the barcode scanner back on the counter_/00126.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/390/649431/Place the barcode scanner back on the counter_/00135.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于counter左侧，其夹持器处于张开状态。右侧机械臂位于counter上方，其夹持器闭合，物理接触并夹住barcode scanner。barcode scanner被右侧机械臂夹持，位于counter上方。counter位于左右机械臂下方，左侧机械臂在counter左侧，右侧机械臂在counter正上方。\nimg2: 左侧机械臂在柜台左侧，夹持器张开。右侧机械臂在条形码扫描仪上方，其夹持器闭合，正夹住条形码扫描仪。条形码扫描仪位于柜台上方，处于右侧机... |
[
{
"content": [
{
"image": "trainset/410/682764/Pour the water from the held gray water bottle into the nearby cup_/00048.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/682764/Pour the water from the held gray water bo... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于杯子左侧，其夹持器处于张开状态。右侧机械臂位于杯子上方，其夹持器闭合，已物理接触并夹住灰色水瓶，水瓶瓶口朝向杯子。灰色水瓶被右侧机械臂夹持，整体位于杯子正上方。杯子位于右侧机械臂下方，同时在左侧机械臂右侧。\nimg2: 右侧机械臂夹持着灰色水瓶，其夹持器状态为闭合；右侧机械臂位于杯子上方，水瓶开口朝向杯子。左侧机械臂位于杯子左侧，其夹持器状态为张开。灰色水瓶（目标物品）被右侧机械臂夹持，处于杯子上方。杯子位于右侧机械臂下方，在左侧机械臂右侧，靠近右侧机... |
[
{
"content": [
{
"image": "trainset/372/663393/Place the grasped doubanjiang into red canvas tote bag with the right arm_/00170.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/372/663393/Place the grasped doubanjiang into ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在红色帆布手提袋的左侧，右侧机械臂在红色帆布手提袋的上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为闭合（已夹住豆瓣酱）。目标物品豆瓣酱被右侧机械臂夹持，位于红色帆布手提袋的正上方。红色帆布手提袋位于右侧机械臂的下方，在左侧机械臂的右侧。\nimg2: 左侧机械臂在红色帆布手提袋左侧，其夹持器状态为张开。右侧机械臂在红色帆布手提袋上方，其夹持器状态为闭合，正夹住豆瓣酱。豆瓣酱被右侧机械臂夹持，位于红色帆布手提袋上方。红色帆布手提袋位于右侧机械臂下方，... |
[
{
"content": [
{
"image": "trainset/384/674010/Insert the book held in the right arm into the gap cleared by the left arm on the shelf_/00093.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/674010/Insert the book held ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于书架上已清理的间隙处，其夹持器处于张开状态。右侧机械臂位于书架间隙的前方，其夹持器闭合并持有书，书的位置对准书架上的间隙，处于间隙前方。书架上的间隙位于左右机械臂之间，左侧机械臂在间隙内侧，右侧机械臂在间隙外侧，书在右侧机械臂夹持下正准备插入该间隙。\nimg2: 左侧机械臂位于书架上已有的书之间，在间隙的左侧，其夹持器处于张开状态，维持书架上的间隙。右侧机械臂位于书架间隙的前方，其夹持器处于闭合状态，夹住书，书位于右侧机械臂夹持器中，且书的位置正对书架... |
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