messages listlengths 1 1 | target dict |
|---|---|
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{
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{
"image": "trainset/362/651291/Grasp the lower pant leg and waistband of beige shorts and fold them over the upper pant leg and waistband_/00023.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/651291/Gr... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂位于米色短裤下裤腿的正上方，夹持器闭合，已物理接触并夹住下裤腿；右侧机械臂位于米色短裤裤腰的右侧，夹持器闭合，已夹住裤腰。米色短裤平铺于一平面上，其下裤腿位于上裤腿的下方，裤腰位于短裤的上部。左右机械臂正带动夹持的下裤腿和裤腰向内侧移动，准备将其折叠覆盖到上裤腿和裤腰的上方。\nimg2: 左侧机械臂在米色短裤下裤腿的上方，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上，上裤腿位于... |
[
{
"content": [
{
"image": "trainset/362/669518/Grasp the waistband of green shorts with both hands and fold it down to the legs_/00089.jpg",
"image_id": "img1",
"text": null,
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{
"image": "trainset/362/669518/Grasp the waistband of green... | {
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"spatial details": "\nimg1: 左侧机械臂在绿色短裤裤腰的左侧，右侧机械臂在绿色短裤裤腰的右侧；左侧机械臂夹持器闭合，右侧机械臂夹持器闭合；绿色短裤的裤腰部分被左右机械臂共同夹持，裤腰位于短裤腿部的上方，且已被向下折叠至腿部旁边。\nimg2: 左侧机械臂在绿色短裤腰带的左侧上方，右侧机械臂在绿色短裤腰带的右侧上方。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，两者均已夹住绿色短裤的腰带部分。绿色短裤平铺在桌子上，其腰带部分位于腿部上方，左侧机械臂和右侧机械臂分别在腰带的左右两侧并夹住... |
[
{
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{
"image": "sqa3D/scene0620_00_bird.png",
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{
"image": null,
"image_id": null,
"text": "What is the bed sitting on other than a drawer?",
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]... | {
"answer": "dresser",
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[
{
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{
"image": "trainset/359/652991/Place the held makeup cotton pads into the right blue target box_/00064.jpg",
"image_id": "img1",
"text": null,
"type": "image"
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{
"image": "trainset/359/652991/Place the held makeup cotton pads into the r... | {
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"spatial details": "\nimg1: 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。右侧机械臂位于右侧蓝色目标盒的正上方，其夹持器闭合，正夹持着化妆棉片。化妆棉片被右侧机械臂夹持，处于右侧蓝色目标盒的正上方。右侧蓝色目标盒在右侧机械臂的下方，位于左侧机械臂的右侧。\nimg2: 左侧机械臂在放置化妆棉片的初始容器右侧，夹持器张开。右侧机械臂在右侧蓝色目标盒上方，夹持器闭合，夹住化妆棉片。目标物品化妆棉片被右侧机械臂夹持，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，初始容器在左侧机械... |
[
{
"content": [
{
"image": "trainset/372/689959/Place the grasped blue toothbrush cup into red canvas tote bag_/00078.jpg",
"image_id": "img1",
"text": null,
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{
"image": "trainset/372/689959/Place the grasped blue toothbrush cup into red... | {
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"spatial details": "\nimg1: 左侧机械臂位于红色帆布手提袋上方，其夹持器闭合，正夹持着蓝色牙刷杯。右侧机械臂在红色帆布手提袋右侧，夹持器呈张开状态。蓝色牙刷杯被左侧机械臂夹持，处于红色帆布手提袋的正上方，两者垂直距离较近。红色帆布手提袋位于右侧机械臂的左侧，整体放置在平面上，开口朝上。\nimg2: 右侧机械臂在红色帆布手提袋上方，其夹持器闭合，夹住蓝色牙刷杯；左侧机械臂在红色帆布手提袋左侧，夹持器张开。蓝色牙刷杯位于右侧机械臂夹持器中，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、左... |
[
{
"content": [
{
"image": "trainset/362/654176/Grasp the lower pant leg and waistband of black shorts and fold them over the upper pant leg and waistband_/00041.jpg",
"image_id": "img1",
"text": null,
"type": "image"
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{
"image": "trainset/362/654176/Gr... | {
"answer": null,
"closer to completion": "img1",
"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，已夹住下裤腿；右侧机械臂夹持器闭合，已夹住腰带。黑色短裤的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持后正处于向前提起并准备折叠到上裤腿上方的状态。黑色短裤放置在某平面（如工作台）上方，左右机械臂均在该平面上方。\nimg2: 左侧机械臂在黑色短裤下裤腿的旁边，其夹持器闭合并夹住下裤腿；右侧机械臂在黑色短裤裤腰的旁边，其夹持器闭合并夹住裤腰。黑色短裤的下裤腿位于左侧机械臂夹... |
[
{
"content": [
{
"image": "trainset/380/656864/Place the air column film into the cardboard box_/00023.jpg",
"image_id": "img1",
"text": null,
"type": "image"
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{
"image": "trainset/380/656864/Place the air column film into the cardboard box_/00029.jpg"... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于气柱膜和纸箱上方，其夹持器闭合，已夹住气柱膜；右侧机械臂在纸箱右侧，夹持器张开。目标物品气柱膜被左侧机械臂夹持，处于纸箱开口正上方，部分气柱膜边缘已接近纸箱内部。纸箱位于左侧机械臂正下方，右侧机械臂左侧，开口朝上。\nimg2: 左侧机械臂在纸箱的左侧，其夹持器状态为张开。右侧机械臂在纸箱的上方，其夹持器状态为闭合，夹住气柱膜。目标物品气柱膜被右侧机械臂夹持，位于纸箱的正上方。纸箱位于左右机械臂之间的下方区域。关键物品布局为：右侧机械臂夹持气柱膜悬停于纸... |
[
{
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{
"image": "sqa3D/scene0338_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
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{
"image": null,
"image_id": null,
"text": "What is there directly to my right?",
"type": "text"
}
],
"role"... | {
"answer": "recycling bin",
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[
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"content": [
{
"image": "trainset/362/666185/Grasp the waistband of light blue denim shorts with both hands and fold it down to the legs_/00126.jpg",
"image_id": "img1",
"text": null,
"type": "image"
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{
"image": "trainset/362/666185/Grasp the waistba... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤裤腰的左侧，右侧机械臂在浅蓝色牛仔短裤裤腰的右侧。左侧机械臂夹持器闭合，已夹住裤腰左侧部分；右侧机械臂夹持器闭合，已夹住裤腰右侧部分。浅蓝色牛仔短裤位于左右机械臂之间，裤腿部分在下方，裤腰被左右机械臂夹持并向下折叠至裤腿上方。\nimg2: 左侧机械臂在浅蓝色牛仔短裤腰带部分的左侧，右侧机械臂在腰带部分的右侧。左侧机械臂夹持器闭合，已夹住腰带左侧；右侧机械臂夹持器闭合，已夹住腰带右侧。浅蓝色牛仔短裤平铺，裤腿部分位于腰带下方，左右机械臂正将夹... |
[
{
"content": [
{
"image": "trainset/360/677678/Grab the wet wipes on the table with the right arm_/00058.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/360/677678/Grab the wet wipes on the table with the right arm_/00065.... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在湿纸巾的左侧，位于桌子上方。右侧机械臂在湿纸巾的正上方，其夹持器呈张开状态。湿纸巾放置在桌子上，位于右侧机械臂的下方。左侧机械臂的夹持器处于闭合状态。桌子位于左右机械臂的下方，支撑着湿纸巾。右侧机械臂正处于准备抓取湿纸巾的位置，夹持器未与湿纸巾发生物理接触。\nimg2: 左侧机械臂在桌子上方左侧。右侧机械臂在湿纸巾上方。左侧机械臂夹持器张开。右侧机械臂夹持器张开。目标物品湿纸巾在桌子上，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。任务相关关... |
[
{
"content": [
{
"image": "trainset/362/659751/Grasp the waistband of black shorts with both hands and fold it down to the legs_/00143.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/659751/Grasp the waistband of black... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在黑色短裤腰带左侧，右侧机械臂在黑色短裤腰带右侧；左侧机械臂夹持器闭合，右侧机械臂夹持器闭合；黑色短裤腰带被左右机械臂夹持，短裤腿部位于腰带下方，左右机械臂带动腰带向腿部方向移动，当前腰带位置在腿部上方。\nimg2: 左侧机械臂在黑色短裤腰带的左侧，右侧机械臂在黑色短裤腰带的右侧。左侧机械臂夹持器状态为闭合，右侧机械臂夹持器状态为闭合。目标物品黑色短裤的腰带部分被左右机械臂夹持，短裤的腿部部分在腰带下方，位于左右机械臂的下方。黑色短裤腿部相对于左右机械臂在... |
[
{
"content": [
{
"image": "trainset/361/677965/Smooth out a messy black shorts with both arms and spread it flat_/00087.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/677965/Smooth out a messy black shorts with both a... | {
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"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在黑色短裤的左侧上方，右侧机械臂在黑色短裤的右侧上方。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合，两者分别夹住黑色短裤的左右两侧。黑色短裤位于工作台的上方，且处于左右机械臂之间。工作台位于左右机械臂的下方，黑色短裤在工作台表面被左右机械臂向两侧拉伸以铺平。\nimg2: 左侧机械臂在黑色短裤的左侧上方，右侧机械臂在黑色短裤的右侧上方。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。黑色短裤位于工作台上方，且被左右机械臂向两... |
[
{
"content": [
{
"image": "trainset/421/683620/Lower the right arm to put away the cleaned cloth_/00081.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/683620/Lower the right arm to put away the cleaned cloth_/00088.jp... | {
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"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在右侧机械臂的左侧，且在放置清洁布的收纳盒左上方。右侧机械臂在收纳盒上方，正处于降低过程中。左侧机械臂夹持器张开，右侧机械臂夹持器闭合（夹住清洁过的布）。清洁过的布被右侧机械臂夹持，位于右侧机械臂夹持器中，处于收纳盒上方。收纳盒位于右侧机械臂的下方，在左侧机械臂的右下方。\nimg2: 左侧机械臂在存放清洁布的容器（某物品）左侧，右侧机械臂在容器上方且处于下降状态。左侧机械臂夹持器张开，右侧机械臂夹持器张开。清洁好的布（目标物品）在右侧机械臂下方，位于容器正... |
[
{
"content": [
{
"image": "trainset/352/671734/Open the refrigerator door with the left arm_/00045.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/671734/Open the refrigerator door with the left arm_/00050.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，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，未接触任何物体。目标物品冰箱门位于左侧机械臂前方，且在冰箱主体前侧。冰箱主体位于左侧机械臂后方、右侧机械臂左侧。关键物品布局：左侧机械臂与冰箱门接触，右侧机械臂处于空闲位置，整体布局支持左侧机械臂执行开门动作。\nimg2: 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，夹持器状态为闭合。右侧机械臂在冰箱右侧，未接触其他物体，夹持器状态为张开。目标物品冰箱门... |
[
{
"content": [
{
"image": "trainset/352/671557/Pick up the green tea from the fridge with the left arm_/00091.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/671557/Pick up the green tea from the fridge with the left a... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在冰箱前方，位于绿茶上方；右侧机械臂在冰箱右侧，远离目标物品。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。目标物品绿茶位于冰箱内部，在左侧机械臂夹持器下方。冰箱在左侧机械臂后方，在右侧机械臂左侧。\nimg2: 左侧机械臂位于冰箱前方，其末端在目标物品绿茶的上方；右侧机械臂位于冰箱的右侧，处于空闲状态。左侧机械臂夹持器呈张开状态，指尖与绿茶之间存在空隙；右侧机械臂夹持器呈闭合状态，指尖完全并拢。目标物品绿茶位于冰箱内部靠近开口处，在左侧机械臂的下... |
[
{
"content": [
{
"image": "trainset/384/688747/Lift the horizontally placed book on the shelf with the right arm_/00029.jpg",
"image_id": "img1",
"text": null,
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{
"image": "trainset/384/688747/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，右侧机械臂在书架上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。目标物品水平放置的书被右侧机械臂夹持，位于书架上方，在左侧机械臂右侧。书架位于左右机械臂之间，原书放置于书架水平表面，现书已被右侧机械臂抬起离开书架表面。\nimg2: 左侧机械臂在书架左侧，右侧机械臂在书的上方且位于书架右侧。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。目标物品书被右侧机械臂夹持，位于书架上方，在左侧机械臂右侧。书架在左侧机械臂右侧、右侧机械臂左侧。书原水平放置于... |
[
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"image": "sqa3D/scene0101_00_bird.png",
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{
"image": null,
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"text": "Is the amount of windows odd or even?",
"type": "text"
}
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"rol... | {
"answer": "odd",
"closer to completion": null,
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"image": null,
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"text": "What is to my left that has a drain?",
"type": "text"
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],
"role... | {
"answer": "bathtub",
"closer to completion": null,
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"image": "trainset/421/684071/Grasp the cloth on the table and wipe the stain_/00071.jpg",
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"image": "trainset/421/684071/Grasp the cloth on the table and wipe the stain_/00063.jpg",
... | {
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[
{
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{
"image": "trainset/362/666222/Grasp the waistband of black shorts with both hands and fold it down to the legs_/00076.jpg",
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{
"image": "trainset/362/666222/Grasp the waistband of black... | {
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"spatial details": "\nimg1: 左侧机械臂位于黑色短裤腰带的左侧旁边，右侧机械臂位于黑色短裤腰带的右侧旁边。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。目标物品黑色短裤的腰带部分被左右机械臂共同夹持，腿部部分位于腰带下方，短裤整体平铺于某平面上，该平面位于左右机械臂的下方。\nimg2: 左侧机械臂在黑色短裤裤腰的左侧上方，右侧机械臂在黑色短裤裤腰的右侧上方。左侧机械臂夹持器闭合，已夹住黑色短裤的左侧裤腰；右侧机械臂夹持器闭合，已夹住黑色短裤的右侧裤腰。黑色短... |
[
{
"content": [
{
"image": "trainset/414/670196/Hang the clothes held in the right arm on the right side of wooden clothes hanger_/00196.jpg",
"image_id": "img1",
"text": null,
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{
"image": "trainset/414/670196/Hang the clothes held in th... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在木质衣架左侧，其夹持器处于张开状态。右侧机械臂在木质衣架右侧，其夹持器处于闭合状态且夹住衣物。目标物品衣物被右侧机械臂夹持，位于木质衣架右侧。木质衣架位于左右机械臂之间，右侧机械臂在衣架右侧，左侧机械臂在衣架左侧，衣物在衣架右侧且靠近衣架挂钩位置。\nimg2: 左侧机械臂位于木质衣架左侧，其夹持器状态为张开。右侧机械臂位于木质衣架右侧，其夹持器状态为闭合，且已物理接触并夹住衣物。目标物品衣物被右侧机械臂夹持，位于木质衣架右侧，且靠近衣架的右侧挂钩位置。木... |
[
{
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{
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{
"image": "trainset/352/672384/Open the refrigerator door with the left arm_/00023.jpg",
... | {
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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边缘，开合状态为闭合。右侧机械臂位于冰箱右侧，夹持器处于空闲状态且指尖未完全并拢，开合状态为张开。目标物品冰箱门被左侧机械臂夹持，位于左侧机械臂的夹持范围内。冰箱位于左侧机械臂和右侧机械臂的前方，左侧机械臂通过夹持冰箱门执行开门动作，右侧机械臂未参与当前任务。\nimg2: 左侧机械臂位于冰箱门前方，其夹持器闭合，已物理接触并夹住冰箱门把手。右侧机械臂在冰箱右侧，夹持器呈张开状态，未接触任何物体。冰箱门相对于左侧... |
[
{
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{
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{
"image": "trainset/352/658036/Push the refrigerator door with the right arm_/00132.jpg",
... | {
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"spatial details": "\nimg1: 左侧机械臂在冰箱的左侧，右侧机械臂在冰箱门的前方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品冰箱门相对于右侧机械臂在其后方，相对于左侧机械臂在其右侧；冰箱在左侧机械臂的右侧，在右侧机械臂的后方。右侧机械臂的夹持器与冰箱门接触，处于可推动的位置。\nimg2: 左侧机械臂在冰箱左侧旁边，右侧机械臂在冰箱门前方。左侧机械臂夹持器处于闭合状态，右侧机械臂夹持器处于张开状态。目标物品冰箱门位于右侧机械臂前方，右侧机械臂夹持器与冰箱门表面接触。冰箱整体在左... |
[
{
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{
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"image_id": "img1",
"text": null,
"type": "image"
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{
"image": "trainset/352/659835/Push the refrigerator door with the right arm_/00131.jpg",
... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在冰箱主体的左侧，右侧机械臂在冰箱门的前方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品冰箱门位于冰箱主体的前方，冰箱主体在左侧机械臂的右侧、右侧机械臂的左侧。右侧机械臂处于冰箱门前方，正接触或准备接触冰箱门以执行推的动作；左侧机械臂在冰箱主体左侧，未与冰箱门发生接触。\nimg2: 左侧机械臂在冰箱主体左侧，未接触冰箱门。右侧机械臂在冰箱门前方，其夹持器与冰箱门表面接触。左侧机械臂夹持器张开（指尖未完全并拢且未夹住物体）。右侧机械臂夹持... |
[
{
"content": [
{
"image": "trainset/392/653506/Scrub the gray water bottle held in the left arm with the cup brush in the right arm_/00156.jpg",
"image_id": "img1",
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{
"image": "trainset/392/653506/Scrub the gray water bot... | {
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"spatial details": "\nimg1: 左侧机械臂夹持器闭合，夹住灰色水瓶，灰色水瓶位于左侧机械臂的夹持位置。右侧机械臂夹持器闭合，夹住杯刷，杯刷位于灰色水瓶的旁边，且杯刷接触灰色水瓶表面。右侧机械臂位于灰色水瓶的右侧，其持有的杯刷正对着灰色水瓶进行擦洗操作。杯刷被右侧机械臂夹持，处于灰色水瓶的表面位置，与左侧机械臂持有的灰色水瓶形成擦洗接触的空间布局。\nimg2: 左侧机械臂在右侧机械臂的左侧，其夹持器闭合，夹住灰色水瓶。右侧机械臂在左侧机械臂的右侧，其夹持器闭合，夹住杯刷，杯刷接触灰色水瓶的外表面。灰... |
[
{
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{
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"image_id": null,
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{
"image": null,
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"text": "What number of things are either shiny things or small green matte cubes?",
"... | {
"answer": "1",
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{
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{
"image": "trainset/384/660043/Push aside the books on the shelf with the left arm_/00042.jpg",
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"text": null,
"type": "image"
},
{
"image": "trainset/384/660043/Push aside the books on the shelf with the left arm_/0004... | {
"answer": null,
"closer to completion": "img2",
"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，正接触书的侧面并向书架层的右侧推动；右侧机械臂位于书架的右侧，夹持器处于张开状态，未接触任何物品。书原本位于书架中层靠前位置，被左侧机械臂推至该层的右侧边缘。书架位于左右机械臂之间，左侧机械臂在书架前方偏左位置，右侧机械臂在书架右侧。\nimg2: 左侧机械臂位于书架上的书的前方，其夹持器接触书的侧面，状态为张开；右侧机械臂位于书架的右侧，夹持器状态为张开。目标物品书位于书架的中层，在左侧机械臂的后方、右侧机械臂的... |
[
{
"content": [
{
"image": "trainset/362/667867/Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband_/00035.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/36... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤下裤腿上方，右侧机械臂在短裤腰带上方。左侧机械臂夹持器闭合，已夹住下裤腿；右侧机械臂夹持器闭合，已夹住腰带。浅蓝色牛仔短裤放置在操作台上，位于左右机械臂下方。短裤上裤腿在腰带下方，下裤腿在短裤下部，左右机械臂正将夹住的下裤腿和腰带向短裤上裤腿方向移动，处于折叠过程中。操作台在左右机械臂下方，支撑着短裤。\nimg2: 左侧机械臂在浅蓝色牛仔短裤下部裤腿的左侧，右侧机械臂在浅蓝色牛仔短裤裤腰的右侧。左侧机械臂夹持器闭合，已夹住短裤下部裤腿；右侧... |
[
{
"content": [
{
"image": "trainset/361/688330/Smooth out a messy brown shorts with both arms and spread it flat_/00012.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/688330/Smooth out a messy brown shorts with both a... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在棕色短裤的左侧边缘上方，右侧机械臂在棕色短裤的右侧边缘上方。左侧机械臂夹持器闭合，已物理接触并夹住短裤左侧边缘；右侧机械臂夹持器闭合，已物理接触并夹住短裤右侧边缘。目标物品棕色短裤位于工作台上方，其左侧部分在左侧机械臂下方，右侧部分在右侧机械臂下方。工作台位于左右机械臂的正下方，短裤平铺于工作台表面，左右机械臂分别从短裤两侧对其施加拉力以抚平褶皱。\nimg2: 左侧机械臂在棕色短裤左侧部分上方，右侧机械臂在棕色短裤右侧部分上方。左侧机械臂夹持器闭合，已夹... |
[
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{
"image": "trainset/362/662634/Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband_/00015.jpg",
"image_id": "img1",
"text": null,
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},
{
"image": "trainset/36... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤下裤腿的上方，右侧机械臂在短裤腰带的上方。左侧机械臂夹持器闭合，已夹住短裤的下裤腿；右侧机械臂夹持器闭合，已夹住短裤的腰带。浅蓝色牛仔短裤平铺于工作台表面，工作台在左右机械臂的下方。短裤的上裤腿和腰带位于下裤腿的上方，左侧机械臂正将下裤腿向短裤上裤腿方向移动，右侧机械臂配合将腰带向同一方向移动，处于折叠过程中。\nimg2: 左侧机械臂位于浅蓝色牛仔短裤下裤腿上方，其夹持器闭合，已夹住下裤腿；右侧机械臂位于短裤腰带右侧，其夹持器闭合，已夹住腰... |
[
{
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{
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"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "The yellow thing that is the same size as the matte cube is what shape?",
"ty... | {
"answer": "cylinder",
"closer to completion": null,
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} |
[
{
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{
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},
{
"image": null,
"image_id": null,
"text": "Are there more yellow metal objects than matte blocks?",
"type": "text"
... | {
"answer": "no",
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} |
[
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{
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"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Report the absolute speed for the object at bo... | {
"answer": "the object at bounding box [0, 672, 753, 1177]'s speed 3 seconds from now will be 0.18 m/s.",
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{
"image": "trainset/352/650033/Push the refrigerator door with the right arm_/00139.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/650033/Push the refrigerator door with the right arm_/00130.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在冰箱主体左侧，其夹持器处于张开状态。右侧机械臂在冰箱门前方，其夹持器与冰箱门表面接触，处于张开状态。冰箱门位于冰箱主体前方，右侧机械臂在冰箱门前方，左侧机械臂在冰箱主体左侧。目标物品冰箱门在右侧机械臂前方，在冰箱主体前方。\nimg2: 左侧机械臂在冰箱主体的左侧，右侧机械臂在冰箱门的前方并接触冰箱门。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。目标物品冰箱门位于冰箱主体的前方，冰箱主体位于左侧机械臂的右侧、右侧机械臂的左侧。"
} |
[
{
"content": [
{
"image": "trainset/377/649620/Pick up dried plum and tangerine peel cake with right arm_/00136.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/649620/Pick up dried plum and tangerine peel cake with rig... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在目标物品（陈皮梅蛋糕）左侧，右侧机械臂在目标物品上方。左侧机械臂夹持器处于张开状态，右侧机械臂夹持器处于张开状态（夹爪与目标物品间存在空隙，未物理接触）。目标物品（陈皮梅蛋糕）放置于平台上，平台在左右机械臂下方；目标物品位于左侧机械臂右侧、右侧机械臂正下方。某物品（平台）在左右机械臂下方，支撑目标物品。\nimg2: 左侧机械臂在陈皮梅蛋糕左侧，其夹持器状态为张开。右侧机械臂在陈皮梅蛋糕正上方，其夹持器状态为张开。目标物品陈皮梅蛋糕位于某物品（支撑平台）上... |
[
{
"content": [
{
"image": "trainset/361/676872/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00029.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/676872/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。浅蓝色牛仔短裤位于左右机械臂之间，下方有工作台，短裤被左右机械臂向两侧拉伸，处于展平过程中。\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，夹住短裤左侧边缘；右侧机械臂夹持器闭合，夹住短裤右侧边缘。浅蓝色牛仔短裤位于工作台上方，左右机械臂分别在短... |
[
{
"content": [
{
"image": "trainset/358/683293/Press the green toaster start button with both arms_/00083.jpg",
"image_id": "img1",
"text": null,
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},
{
"image": "trainset/358/683293/Press the green toaster start button with both arms_/0009... | {
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{
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[
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[
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"image": "trainset/376/674195/Retrieve fast charger with the right arm from bottom right corner of the material frame_/00064.jpg",
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[
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{
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[
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[
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{
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{
"image": "trainset/440/689827/Lift the steam iron on the right side of the right arm... | {
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[
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"text": "what is in front of the table",
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],
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... | {
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[
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{
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"image": "trainset/361/681070/Smooth out a messy light blue de... | {
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[
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{
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[
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{
"image": "trainset/361/675783/Smooth out a messy green shorts with both arms and spread it flat_/00069.jpg",
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{
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"spatial details": "\nimg1: 左侧机械臂在绿色短裤的左侧上方，右侧机械臂在绿色短裤的右侧上方。左侧机械臂夹持器闭合，夹住绿色短裤的左侧边缘；右侧机械臂夹持器闭合，夹住绿色短裤的右侧边缘。绿色短裤位于支撑面上方，支撑面在左右机械臂的下方。左右机械臂分别从短裤两侧夹持，共同将短裤向两侧拉伸以铺平。\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。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈张开状态。绿色短裤在工作台上方，位于左右机械臂之间下方，其表面有未完全抚平的褶皱。工作... |
[
{
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{
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{
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"text": "what is in front of the bottle of hand wash liquid",
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],
... | {
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"image": "trainset/422/687778/Place the air column film into the logistics box above the product with the right arm_/00167.jpg",
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{
"image": "trainset/422/687778/Place the air column fi... | {
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"spatial details": "\nimg1: 左侧机械臂位于产品左侧，其夹持器处于张开状态。右侧机械臂位于物流箱上方，夹持器闭合，夹住气柱膜。物流箱位于产品上方，气柱膜被右侧机械臂夹持在物流箱开口处。产品位于物流箱正下方，左右机械臂分别在产品的左侧和上方区域，右侧机械臂正处于将气柱膜放入物流箱的过程中。\nimg2: 左侧机械臂在产品左侧，右侧机械臂在物流箱上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。目标物品气柱膜被右侧机械臂夹持，位于物流箱正上方。物流箱在产品上方，产品在物流箱下方。右侧机械臂位于物流箱上... |
[
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{
"image": "trainset/414/675505/Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger_/00015.jpg",
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{
"image": "trainset/414/675505/Lift the... | {
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"image": "trainset/362/667310/Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband_/00011.jpg",
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"image": "trainset/36... | {
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[
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{
"image": "trainset/352/650679/Push the refrigerator door with the right arm_/00108.jpg",
... | {
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"spatial details": "\nimg1: 右侧机械臂在冰箱门前方，其夹持器处于张开状态，正接触并推动冰箱门。左侧机械臂在冰箱左侧，夹持器处于张开状态。冰箱门位于冰箱主体前方，右侧机械臂在冰箱门前方，左侧机械臂在冰箱主体左侧。目标物品冰箱门相对于右侧机械臂在其后方，相对于左侧机械臂在其右侧；某物品（冰箱主体）相对于右侧机械臂在其后方，相对于左侧机械臂在其右侧。\nimg2: 左侧机械臂在冰箱主体左侧，右侧机械臂在冰箱门前方。左侧机械臂夹持器张开，右侧机械臂夹持器张开。目标物品冰箱门在右侧机械臂后方、冰箱主体前方... |
[
{
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{
"image": "trainset/362/667211/Grasp the waistband of black shorts with both hands and fold it down to the legs_/00077.jpg",
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{
"image": "trainset/362/667211/Grasp the waistband of black... | {
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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，已夹住裤腰左侧部分；右侧机械臂夹持器闭合，已夹住裤腰右侧部分。黑色短裤的裤腰位于左右机械臂之间，裤腿部分在裤腰下方，即位于左右机械臂的下方。裤腿相对于左右机械臂处于下方位置，左右机械臂正夹持裤腰准备向下折叠至裤腿。\nimg2: 左侧机械臂在黑色短裤腰带的左侧，右侧机械臂在黑色短裤腰带的右侧。左侧机械臂夹持器状态为闭合，右侧机械臂夹持器状态为闭合。黑色短裤位于左右机械臂之间的下方，其... |
[
{
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{
"image": "trainset/414/681898/Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger_/00010.jpg",
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"image": "trainset/414/681898/Lift the... | {
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"spatial details": "\nimg1: 左侧机械臂在左侧木质衣架的左侧，右侧机械臂在目标木质衣架（右侧）的上方。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（指尖与目标衣架间存在空隙）。目标木质衣架在右侧机械臂的下方，在左侧机械臂的右侧；左侧木质衣架在左侧机械臂的右侧，在目标木质衣架的左侧。关键物品布局为两个木质衣架左右排列，左侧木质衣架在左侧，目标木质衣架在右侧，左右机械臂分别位于对应衣架的左侧和上方。\nimg2: 左侧机械臂在左侧木质衣架的左侧，右侧机械臂在右侧木质衣架（目标物品）的上方。左... |
[
{
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{
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{
"image": "trainset/410/676993/Pour the water from the held gray water bo... | {
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"spatial details": "\nimg1: 左侧机械臂持有灰色水瓶，其夹持器状态为闭合；左侧机械臂位于杯子上方。右侧机械臂位于杯子右侧，其夹持器状态为张开。目标物品灰色水瓶被左侧机械臂夹持，处于杯子上方。杯子位于左侧机械臂下方，靠近左侧机械臂，在右侧机械臂左侧。\nimg2: 右侧机械臂持有灰色水瓶，其夹持器状态为闭合；右侧机械臂位于杯子上方。左侧机械臂夹持器状态为张开，位于杯子左侧。灰色水瓶在右侧机械臂夹持下处于杯子正上方。杯子位于右侧机械臂下方、左侧机械臂右侧。关键物品布局为：右侧机械臂持水瓶在杯子上方，杯... |
[
{
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{
"image": null,
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"text": "Is there a tiny block made of the same material as the tiny gray cylinder?",
... | {
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{
"image": "trainset/352/660664/Open the refrigerator door with the left arm_/00014.jpg",
... | {
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"spatial details": "\nimg1: 左侧机械臂在冰箱门前方，其夹持器闭合夹住冰箱门外侧边缘。右侧机械臂在冰箱主体右侧，夹持器张开。冰箱门在冰箱主体前方呈打开状态，位于左侧机械臂夹持范围内。冰箱主体在左侧机械臂后方，在右侧机械臂左侧。\nimg2: 左侧机械臂位于冰箱门前方，其夹持器闭合，已物理接触并夹住冰箱门边缘；右侧机械臂位于冰箱主体右侧，夹持器张开，指尖未完全并拢。冰箱门在冰箱主体前方，处于部分打开状态，左侧机械臂在冰箱主体前方偏左位置，右侧机械臂在冰箱主体右侧。冰箱主体在左侧机械臂的右侧，在右侧机... |
[
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{
"image": "trainset/410/650725/Place the white kettle held in the left arm bac... | {
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"spatial details": "\nimg1: 左侧机械臂位于桌子上方，白色水壶在左侧机械臂下方且接触桌面。左侧机械臂夹持器处于张开状态。右侧机械臂位于桌子右侧，其夹持器处于张开状态。白色水壶位于桌子表面，在左侧机械臂正下方、右侧机械臂左侧。桌子位于左右机械臂下方，作为白色水壶的放置面。\nimg2: 左侧机械臂在白色水壶上方，其夹持器状态为张开；右侧机械臂在桌子右侧，夹持器状态为张开。白色水壶位于桌子上方，且在左侧机械臂正下方。桌子位于左右机械臂下方，是白色水壶的目标放置位置。"
} |
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{
"image": null,
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"text": "Indicate how many meters per second the ego ve... | {
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{
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"text": "What is hanging on the wall infront of me above the copier?",
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... | {
"answer": "calendar",
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{
"image": "trainset/362/665345/Grasp the waistband of light blue denim shorts with both hands and fold it down to the legs_/00074.jpg",
"image_id": "img1",
"text": null,
"type": "image"
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{
"image": "trainset/362/665345/Grasp the waistba... | {
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"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤腰带的左侧上方，右侧机械臂在短裤腰带的右侧上方。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合，两者均物理接触并夹住短裤腰带。浅蓝色牛仔短裤的腰带部分被左右机械臂夹持，腿部部分位于腰带下方。短裤整体位于工作台上方，工作台在左右机械臂的下方。\nimg2: 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。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品浅蓝色牛仔短裤的裤腰部分被左右机械臂夹持，其腿部部分位于裤腰下方，且相对于左右机... |
[
{
"content": [
{
"image": "trainset/410/679394/Pour the water from the held golden kettle into the nearby cup_/00049.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/679394/Pour the water from the held golden kettle int... | {
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"spatial details": "\nimg1: 左侧机械臂位于cup上方，其夹持器闭合，正物理接触并夹住golden kettle。右侧机械臂在cup右侧，其夹持器张开，指尖未并拢且未接触任何物体。目标物品golden kettle被左侧机械臂夹持，处于cup正上方；cup位于左侧机械臂下方、右侧机械臂左侧。golden kettle与cup的空间布局为kettle在cup上方，符合倾倒动作的位置要求。\nimg2: 左侧机械臂夹持着金色水壶，其位置在杯子上方；右侧机械臂位于杯子右侧。左侧机械臂夹持器状态为闭合（已... |
[
{
"content": [
{
"image": "trainset/377/674854/Pick up blue cleansing milk with left arm_/00083.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/674854/Pick up blue cleansing milk with left arm_/00094.jpg",
"ima... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在蓝色洁面乳正上方，其夹持器呈张开状态（指尖未接触物体且存在空隙）。右侧机械臂在绿色瓶子右侧，夹持器处于张开状态。目标物品蓝色洁面乳位于绿色瓶子左侧，其正上方为左侧机械臂，右侧紧邻绿色瓶子。绿色瓶子位于蓝色洁面乳右侧、右侧机械臂左侧。\nimg2: 左侧机械臂位于蓝色洁面乳上方，其夹持器张开。右侧机械臂位于蓝色洁面乳右侧，夹持器张开。目标物品蓝色洁面乳位于某平面（如桌面）上，在左侧机械臂正下方，在右侧机械臂左侧。某平面支撑蓝色洁面乳，位于左右机械臂下方。左侧... |
[
{
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{
"image": "trainset/377/670110/Place the air column film into the carton on ethernet cable_/00101.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/377/670110/Place the air column film into the carton on ethe... | {
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"spatial details": "\nimg1: 左侧机械臂在纸箱上方，其夹持器闭合夹住气柱膜；右侧机械臂在以太网线缆右侧，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；纸箱在以太网线缆上方，以太网线缆在纸箱下方。左侧机械臂在纸箱和以太网线缆上方，右侧机械臂在纸箱右侧。\nimg2: 左侧机械臂在纸箱上方，其夹持器闭合（夹住气柱膜）；右侧机械臂在纸箱右侧，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。纸箱在以太网线缆上方，以太网线缆在纸箱下方。关键物品布局：以太网线缆支撑纸箱，左侧机械臂持... |
[
{
"content": [
{
"image": "trainset/392/671985/Swing the left arm holding transparent water bottle_/00402.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/671985/Swing the left arm holding transparent water bottle_/0041... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在右侧机械臂的左侧，其夹持器闭合，正持有透明水瓶；透明水瓶位于左侧机械臂夹持器中，在右侧机械臂的左侧。右侧机械臂夹持器张开，位于透明水瓶的右侧，在桌子上方。桌子位于左右机械臂的下方，透明水瓶在桌子上方，左侧机械臂在桌子上方且相对于初始位置向右摆动。\nimg2: 左侧机械臂在右侧机械臂的左侧，其夹持器处于闭合状态，正夹持着透明水瓶。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，未夹持任何物体。透明水瓶被左侧机械臂夹持，位于左侧机械臂的前端，在右侧机械... |
[
{
"content": [
{
"image": "trainset/352/666622/Open the refrigerator door with the left arm_/00008.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/666622/Open the refrigerator door with the left arm_/00013.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于冰箱门前方，其夹持器闭合；右侧机械臂位于冰箱主体右侧，夹持器张开。目标物品冰箱门被左侧机械臂夹持，位于冰箱主体前方；冰箱主体位于左侧机械臂后方、右侧机械臂左侧。任务关键物品布局为：左侧机械臂在冰箱门前方并夹持，右侧机械臂在冰箱主体右侧处于空闲状态。\nimg2: 左侧机械臂在冰箱门前方，其夹持器闭合夹住冰箱门边缘；右侧机械臂在冰箱主体右侧，夹持器张开。冰箱门在左侧机械臂前方、右侧机械臂左侧；冰箱主体在左侧机械臂后方、右侧机械臂左侧。"
} |
[
{
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},
{
"image": null,
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"text": "There is a rubber thing that is in front of the purple cylinder; is it the same shape... | {
"answer": "no",
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} |
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{
"image": "trainset/361/678831/Smooth out a messy black shorts with both arms and spread it flat_/00077.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/678831/Smooth out a messy black shorts with both a... | {
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"spatial details": "\nimg1: 左侧机械臂在黑色短裤左侧部分上方，右侧机械臂在黑色短裤右侧部分上方。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，夹住短裤右侧边缘。黑色短裤位于工作台上方，工作台在左右机械臂下方。短裤整体呈部分展开状态，左右机械臂分别从两侧夹持短裤边缘，向外侧拉伸以抚平褶皱。\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。黑色短裤位于工作台表面，处于... |
[
{
"content": [
{
"image": "sqa3D/scene0342_00_bird.png",
"image_id": null,
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},
{
"image": null,
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"text": "Are the chairs in front of me wood or leather?",
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}
],... | {
"answer": "leather",
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} |
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{
"image": "trainset/421/679537/Lift the cup on the table with the left arm_/00031.jpg",
... | {
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{
"image": "trainset/368/666787/Open the oven door with both hands_/00214.jpg",
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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。烤箱门位于左右机械臂之间，其边缘分别被左侧机械臂夹持器和右侧机械臂夹持器物理接触。烤箱门相对于左右机械臂处于被双手夹持的状态，无其他物品干扰机械臂对烤箱门的操作。\nimg2: 左侧机械臂在烤箱门的左侧面旁边，右侧机械臂在烤箱门的右侧面旁边。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品烤箱门在左侧机械臂的右侧、右侧机械臂的左侧，且位于烤箱主体的前方。烤箱主体在左侧机械臂... |
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{
"image": "trainset/385/676632/Place the held onion into the plastic bag in t... | {
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"spatial details": "\nimg1: 右侧机械臂位于购物车上方，其夹持器闭合，正夹住洋葱；洋葱位于塑料袋上方，塑料袋在购物车内部。左侧机械臂位于购物车左侧，其夹持器张开。\nimg2: 左侧机械臂在购物车左侧，夹持器状态为张开。右侧机械臂在塑料袋上方，夹持器状态为张开。目标物品洋葱位于右侧机械臂夹持器下方，且处于塑料袋内部。塑料袋位于购物车内部。塑料袋相对于右侧机械臂在其下方，相对于购物车在其内部；购物车相对于左右机械臂在其之间位置。"
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"spatial details": "\nimg1: 左侧机械臂在书架左侧上方，右侧机械臂在错位书的左侧旁边。左侧机械臂夹持器闭合，右侧机械臂夹持器张开。目标错位书在书架中间位置，位于右侧机械臂的右侧。书架在左右机械臂的前方，错位书尚未到达书架末端。\nimg2: 左侧机械臂在书架的左侧，远离目标物品。右侧机械臂在书架前方，其夹持器位于错位的书的左侧。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。目标物品（错位的书）位于书架中间层，在该层的左侧位置，尚未到达层架尽头，其右侧有空间可被推至尽头。书架位于左右机械臂... |
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{
"image": "trainset/352/659810/Place the boxed iced tea held in the left arm on t... | {
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"spatial details": "\nimg1: 左侧机械臂位于桌子上方，其夹持器闭合，正持有盒装冰茶。盒装冰茶位于左侧机械臂下方、桌子上方。右侧机械臂位于桌子右侧，其夹持器张开，未持有物品。桌子位于左右机械臂的下方。目标物品盒装冰茶在左侧机械臂夹持下处于待放置到桌子的位置，右侧机械臂在桌子右侧未干扰任务。\nimg2: 左侧机械臂位于桌子上方，其夹持器处于张开状态。右侧机械臂位于桌子右侧，夹持器处于张开状态。目标物品盒装冰茶已放置在桌子上，位于左侧机械臂正下方。桌子位于左右机械臂之间，盒装冰茶在桌子表面，左侧机械臂... |
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{
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... | {
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"spatial details": "\nimg1: 左侧机械臂在冰箱主体的左侧，右侧机械臂在冰箱门的前方且其夹持器部分接触冰箱门表面。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。目标物品冰箱门位于冰箱主体的前方，且在右侧机械臂的前方；冰箱主体位于左侧机械臂的右侧和右侧机械臂的后方。右侧机械臂的位置和夹持器状态显示其正处于推冰箱门的操作过程中。\nimg2: 左侧机械臂在冰箱左侧，右侧机械臂在冰箱门前方。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。目标物品冰箱门相对于右侧机械臂在其后方，相对于左侧... |
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"image": "trainset/362/655549/Grasp the waistband of green... | {
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"spatial details": "\nimg1: 左侧机械臂在绿色短裤腰带的左侧上方，右侧机械臂在绿色短裤腰带的右侧上方。左侧机械臂夹持器处于张开状态，右侧机械臂夹持器处于张开状态。目标物品绿色短裤位于左右机械臂的下方，其腰带部分在腿部部分的上方。腿部部分相对于左右机械臂位于绿色短裤的下方。关键物品空间布局为：绿色短裤的腰带部分在上，腿部部分在下，左右机械臂分别在腰带两侧上方呈对称分布。\nimg2: 左侧机械臂在绿色短裤腰带左侧上方，右侧机械臂在绿色短裤腰带右侧上方。左侧机械臂夹持器闭合，已夹住绿色短裤腰带左侧部分... |
[
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{
"image": "trainset/377/650695/Place the held bath sponge into the carton_/00129.jpg",
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{
"image": "trainset/377/650695/Place the held bath sponge into the carton_/00123.jpg",
"i... | {
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"spatial details": "\nimg1: 左侧机械臂在纸箱上方，其夹持器闭合，正夹住沐浴海绵，沐浴海绵位于纸箱开口正上方。右侧机械臂在纸箱左侧，夹持器张开，未接触任何物品。纸箱放置在工作台面上，位于左侧机械臂正下方，沐浴海绵相对于纸箱处于待放入状态，纸箱开口朝上，左侧机械臂位置便于将海绵放入纸箱内部。\nimg2: 右侧机械臂在纸箱上方，其夹持器闭合并夹住浴海绵；左侧机械臂在纸箱左侧，夹持器张开。浴海绵位于右侧机械臂夹持器中，处于纸箱正上方；纸箱位于右侧机械臂下方、左侧机械臂右侧。关键物品布局为：纸箱在下方，... |
[
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{
"image": "trainset/362/669090/Grasp the lower pant leg and waistband of light blue denim shorts and fold them over the upper pant leg and waistband_/00014.jpg",
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"image": "trainset/36... | {
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"spatial details": "\nimg1: 左侧机械臂位于浅蓝色牛仔短裤下半裤腿的上方，右侧机械臂位于短裤腰头的上方。左侧机械臂夹持器闭合，已夹住下半裤腿；右侧机械臂夹持器闭合，已夹住腰头。目标物品浅蓝色牛仔短裤平铺于工作台面，下半裤腿在左侧机械臂下方，腰头在右侧机械臂下方，上半裤腿位于下半裤腿的上方，左右机械臂正带动夹持部分向内侧移动，准备折叠至上半裤腿和腰头上。\nimg2: 左侧机械臂在浅蓝色牛仔短裤的下裤腿上方，右侧机械臂在短裤的腰带右侧。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... |
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"content": [
{
"image": "trainset/361/690140/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00003.jpg",
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"image": "trainset/361/690140/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左侧部分上方，右侧机械臂在浅蓝色牛仔短裤右侧部分上方。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工作台上方，工作台在短裤下方。左右机械臂分别在短裤左右两侧，正将短裤向两侧拉伸以抚平褶皱并展平。\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。浅蓝色牛仔... |
[
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{
"image": "trainset/392/652288/Empty the water from the gray water bottle he... | {
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"spatial details": "\nimg1: 左侧机械臂夹持着灰色水瓶，其夹持器状态为闭合。右侧机械臂在灰色水瓶下方，夹持器状态为张开。目标物品灰色水瓶被左侧机械臂夹持，位于右侧机械臂上方。某物品（接水容器）在右侧机械臂下方，处于左侧机械臂的右下方。\nimg2: 左侧机械臂夹持器闭合，夹住灰色水瓶，灰色水瓶位于接水容器上方并呈倾斜状态。右侧机械臂位于灰色水瓶右侧，其夹持器张开。接水容器位于左侧机械臂下方，右侧机械臂左侧。灰色水瓶相对于左侧机械臂为被夹持状态，相对于接水容器为上方位置；接水容器相对于左右机械臂均为... |
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"image": "trainset/410/649649/Pour the water from the held white kettle into the nearby cup_/00067.jpg",
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"image": "trainset/410/649649/Pour the water from the held white kettle into ... | {
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"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。目标物品白色水壶被右侧机械臂夹持，位于杯子上方；杯子作为接收水的物品，位于右侧机械臂下方，处于水壶正下方。水壶与杯子的空间位置关系为水壶在杯子正上方，便于将水从水壶倒入杯中。\nimg2: 左侧机械臂在杯子上方，其夹持器闭合以夹住白色水壶；右侧机械臂在杯子右侧，其夹持器张开。白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，且在右侧机械臂左侧。水壶口朝向杯子，处于倒... |
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"text": "Is the amount of trash cans odd or even?",
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{
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[
{
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{
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... | {
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[
{
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{
"image": "trainset/362/672171/Grasp the waistband of light blue denim shorts with both hands and fold it down to the legs_/00105.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/672171/Grasp the waistba... | {
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"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤裤腰的左侧上方，右侧机械臂在浅蓝色牛仔短裤裤腰的右侧上方。左侧机械臂夹持器闭合，已夹住裤腰左侧部分；右侧机械臂夹持器闭合，已夹住裤腰右侧部分。目标物品浅蓝色牛仔短裤的裤腰部分被左右机械臂夹持，裤腰下方为短裤的腿部部分，腿部部分位于左右机械臂的下方。短裤整体呈平铺状态，裤腰在上、腿部在下，左右机械臂正夹持裤腰准备向下折叠至腿部。\nimg2: 左侧机械臂在浅蓝色牛仔短裤腰部左侧上方，右侧机械臂在浅蓝色牛仔短裤腰部右侧上方。左侧机械臂夹持器闭合，... |
[
{
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{
"image": "trainset/362/666222/Grasp the lower pant leg and waistband of black shorts and fold them over the upper pant leg and waistband_/00058.jpg",
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},
{
"image": "trainset/362/666222/Gr... | {
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[
{
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{
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},
{
"image": "trainset/414/674675/Hang the clothes held in the ... | {
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"spatial details": "\nimg1: 左侧机械臂位于木质衣架左侧前方，其夹持器闭合，夹住目标衣物；右侧机械臂在木质衣架右侧，夹持器呈张开状态。目标衣物在左侧机械臂夹持器下方，且处于木质衣架左侧挂钩的正前方位置。木质衣架垂直放置，位于左右两个机械臂之间，其左侧挂钩正对左侧机械臂夹持的衣物。\nimg2: 左侧机械臂位于木质衣架的左侧，其夹持器处于闭合状态，正夹住目标衣物。右侧机械臂位于木质衣架的右侧，其夹持器处于张开状态。目标衣物被左侧机械臂夹持，位于木质衣架左侧的正前方。木质衣架位于左右两个机械臂之间，处... |
[
{
"content": [
{
"image": "trainset/374/648849/Lift the blue hand cream in the top-left corner of the material frame with the left arm_/00004.jpg",
"image_id": "img1",
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"type": "image"
},
{
"image": "trainset/374/648849/Lift the blue hand cr... | {
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"spatial details": "\nimg1: 左侧机械臂位于物料框上方，其夹持器正对物料框左上角的蓝色护手霜；右侧机械臂位于物料框右侧，未接触任何物品。左侧机械臂夹持器已物理接触并夹住蓝色护手霜，状态为闭合；右侧机械臂夹持器呈张开状态。蓝色护手霜被左侧机械臂夹持器夹住，位于左侧机械臂夹持器下方，处于物料框左上角。物料框位于左右机械臂之间，左侧机械臂在其上方，右侧机械臂在其右侧。\nimg2: 左侧机械臂在蓝色护手霜上方，其夹持器呈张开状态。右侧机械臂在物料框右侧，夹持器处于张开状态。蓝色护手霜位于物料框的左上角，... |
[
{
"content": [
{
"image": "trainset/384/684673/Push aside the books on the shelf with the left arm_/00047.jpg",
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},
{
"image": "trainset/384/684673/Push aside the books on the shelf with the left arm_/0006... | {
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"closer to completion": "img2",
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