messages listlengths 1 1 | target dict |
|---|---|
[
{
"content": [
{
"image": "trainset/361/679048/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00121.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/679048/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，夹持器闭合夹住短裤左边缘；右侧机械臂在浅蓝色牛仔短裤右侧，夹持器闭合夹住短裤右边缘。浅蓝色牛仔短裤位于工作台上方，工作台在左右机械臂下方。左右机械臂分别从短裤两侧对其施加拉力，使短裤处于被拉伸铺平的状态。\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。左侧机械臂夹持器处于张开状态，右侧机械臂夹持器处于张开状态。目标物品浅蓝色牛仔短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... |
[
{
"content": [
{
"image": "trainset/361/682273/Smooth out a messy green shorts with both arms and spread it flat_/00045.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/682273/Smooth out a messy green shorts with both a... | {
"answer": null,
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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，已夹住绿色短裤的左侧边缘；右侧机械臂夹持器闭合，已夹住绿色短裤的右侧边缘。绿色短裤位于工作台上方，其左侧边缘被左侧机械臂夹持，右侧边缘被右侧机械臂夹持，整体处于被向两侧拉伸的状态。工作台位于左右机械臂的下方，作为支撑面承载绿色短裤。\nimg2: 左侧机械臂在绿色短裤左侧边缘上方，右侧机械臂在绿色短裤右侧边缘上方。左侧机械臂夹持器闭合，已物理接触并夹住绿色短裤的左侧部分；右侧机械臂夹... |
[
{
"content": [
{
"image": "trainset/421/688719/Lower the cup held in the left arm_/00089.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/688719/Lower the cup held in the left arm_/00098.jpg",
"image_id": "img2"... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在杯子上方，夹持器闭合以夹住杯子，杯子位于桌面上方。右侧机械臂在杯子右侧，夹持器张开。桌面在左右机械臂下方，杯子作为目标物品，在左侧机械臂夹持下位置低于初始高度，靠近桌面。左侧机械臂夹持器闭合，右侧机械臂夹持器张开。\nimg2: 左侧机械臂在桌子上方，其夹持器闭合，正夹持着杯子，杯子位于桌子上方且处于较低位置。右侧机械臂在左侧机械臂右侧，同样在桌子上方，其夹持器张开，未夹持任何物体。目标物品杯子被左侧机械臂夹持，位于左右机械臂之间靠左侧位置，且在桌子正上方... |
[
{
"content": [
{
"image": "trainset/377/672290/Place the air column film into the carton on blue cream_/00242.jpg",
"image_id": "img1",
"text": null,
"type": "image"
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{
"image": "trainset/377/672290/Place the air column film into the carton on blue cre... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂夹持气柱膜，位于纸箱上方，其夹持器状态为闭合；右侧机械臂在纸箱右侧，夹持器状态为张开。气柱膜被左侧机械臂夹持，处于纸箱正上方。纸箱放置在蓝色奶油上方，蓝色奶油位于纸箱下方。\nimg2: 左侧机械臂在气柱膜上方，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，位于纸箱上方。纸箱在蓝色奶油上方，蓝色奶油位于纸箱下方。左侧机械臂在纸箱上方，右侧机械臂在纸箱右侧。"
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000065.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a metallic sphere that is the same size as the yellow metal object; what is ... | {
"answer": "brown",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/356/658787/Place the held red vitamin e lotion into white plastic bag_/00083.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/658787/Place the held red vitamin e lotion into white pla... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 右侧机械臂夹持器闭合，夹住红色维生素E乳液，位于白色塑料袋上方；左侧机械臂夹持器张开，位于白色塑料袋左侧。红色维生素E乳液被右侧机械臂夹住，处于白色塑料袋正上方；白色塑料袋位于右侧机械臂下方、左侧机械臂右侧。关键物品布局为：白色塑料袋放置在工作面上，右侧机械臂持红色乳液悬于其上方，左侧机械臂在塑料袋左侧空闲。\nimg2: 左侧机械臂在白色塑料 bag 的左侧，右侧机械臂在白色塑料 bag 的上方。右侧机械臂夹持器闭合，正夹住红色维生素 e lotion；左侧机械臂夹... |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__35ae3128819658243d4754229066a400.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What will be the distance and bearing angle (u... | {
"answer": "In 1 second, they are roughly 32.56 meters away at 5 degrees.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/384/663041/Push the misplaced book on the shelf to the end with your right arm_/00113.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/663041/Push the misplaced book on the shelf to t... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在书架左侧，其夹持器状态为闭合。右侧机械臂在错位书的右侧，其夹持器状态为张开。目标物品错位书位于书架上，处于非末端位置，在右侧机械臂的左侧、左侧机械臂的右侧。书在书架的中间区域，未到达书架末端，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，位于错位的书的左侧；右侧机械臂在书架右侧，位于错位的书的右侧。左侧机械臂夹持器状态为张开；右侧机械臂夹持器状态为张开。目标物品错位的书位于书架上，书在书架中间位置，未到达书架末端。书架位于左... |
[
{
"content": [
{
"image": "sqa3D/scene0476_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What is on top of the file cabinet that is on my left?",
"type": "text"
... | {
"answer": "clothing",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/421/685954/Grasp the cloth on the table and wipe the stain_/00038.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/685954/Grasp the cloth on the table and wipe the stain_/00047.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在桌子上方，位于布的正上方，其夹持器闭合，已物理接触并夹住布。右侧机械臂在桌子右侧，位于污渍上方，其夹持器张开，夹爪指尖未并拢且与物体间有空隙。布被左侧机械臂夹持，处于桌子表面上方。污渍在桌子表面，位于右侧机械臂下方。桌子位于左右机械臂之间，左侧机械臂在桌子左侧上方，右侧机械臂在桌子右侧上方。\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，位于污渍的上方。左侧机械臂夹持器张开，指尖与布之间存在空隙；右侧机械臂夹持器闭合，已物理接触... |
[
{
"content": [
{
"image": "STRIDE-QA/CAM_FRONT/CAM_FRONT__ab74f6ff1dfdea087ab397eca4ca4ed0.jpg",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "After 2 seconds, how far (in meters) from the ... | {
"answer": "After 2 seconds, the distance is about 2.15 meters, with the direction of 121 degrees.",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/384/663462/Insert the book held in the right arm into the gap cleared by the left arm on the shelf_/00054.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/663462/Insert the book held ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于书架前方，在书架某层清理出的空隙旁边。右侧机械臂位于书架前方，在左侧机械臂清理出的空隙前方。左侧机械臂夹持器状态为张开。右侧机械臂夹持器状态为闭合，正夹住目标物品书。书被右侧机械臂夹持，位于书架清理出的空隙前方。书架位于左右两个机械臂的后方，其某层上有左侧机械臂清理出的空隙，该空隙处于右侧机械臂所持书的后方。\nimg2: 左侧机械臂位于书架上的间隙中间，其夹持器张开以维持间隙状态；右侧机械臂在书架间隙的前方，其夹持器闭合以夹住书；书被右侧机械臂夹持，位... |
[
{
"content": [
{
"image": "trainset/421/687263/Lower the cup held in the left arm_/00099.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/687263/Lower the cup held in the left arm_/00107.jpg",
"image_id": "img2"... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在放置面上方，其夹持器闭合，夹住杯子，杯子位于左侧机械臂夹持器之间且在放置面上方。右侧机械臂在放置面右侧，其夹持器张开，未夹持物体。放置面在左侧机械臂下方和右侧机械臂下方，杯子正被左侧机械臂带动向放置面方向降低。\nimg2: 左侧机械臂在杯子周围，其夹持器闭合以物理接触并夹住杯子，杯子位于桌面上方；右侧机械臂在杯子右侧，其夹持器张开，指尖未并拢且未接触任何物体。桌面作为参照物，位于杯子下方，同时处于左右两个机械臂的下方。杯子被左侧机械臂夹持，其空间位置在桌... |
[
{
"content": [
{
"image": "trainset/352/668771/Place the iced tea held in the left arm on the table_/00125.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/668771/Place the iced tea held in the left arm on the table_/00... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 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。目标物品冰茶位于左侧机械臂下方，且处于桌子上方，正被放置到桌面上。桌子位于左右机械臂的下方，作为放置冰茶的目标位置。\nimg2: 左侧机械臂在桌子上方，其夹持器处于张开状态。右侧机械臂在桌子右侧，其夹持器处于张开状态。目标物品冰茶位于左侧机械臂下方，且冰茶底部接近桌面。桌子在左右机械臂下方，冰茶在桌子上方，左侧机械臂在冰茶上方，右侧机械臂在冰茶右侧。"
} |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_002938.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Do the large sphere in front of the gray ball and the tiny matte sphere have the same... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
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[
{
"content": [
{
"image": "trainset/352/661433/Pick up the boxed iced tea from the fridge with the left arm_/00057.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/661433/Pick up the boxed iced tea from the fridge with ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于冰箱内部，在盒装冰茶的前方；右侧机械臂位于冰箱的右侧。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。目标物品盒装冰茶位于冰箱内部的架子上，在左侧机械臂的后方；冰箱位于左右两个机械臂之间，左侧机械臂部分伸入冰箱内部，右侧机械臂在冰箱外部右侧。\nimg2: 左侧机械臂在冰箱内部前方，位于盒装冰茶的正上方；右侧机械臂在冰箱右侧旁边，未靠近盒装冰茶。左侧机械臂夹持器呈张开状态，夹爪指尖与盒装冰茶间存在空隙；右侧机械臂夹持器处于张开状态，指尖未完全... |
[
{
"content": [
{
"image": "trainset/372/664502/Grab the large bag of potato chips on the table with the right arm_/00020.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/372/664502/Grab the large bag of potato chips on the ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在桌子左侧，位于桌子上另一物品的上方。右侧机械臂在桌子中央区域，位于大袋薯片的正上方。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，夹爪指尖与大袋薯片之间存在空隙。大袋薯片位于桌子表面，在右侧机械臂下方，在左侧机械臂右侧。桌子位于左右机械臂下方，支撑大袋薯片及其他物品。\nimg2: 左侧机械臂在桌子左侧，夹持器张开；右侧机械臂在大袋薯片上方，夹持器张开，指尖与薯片袋间有空隙。大袋薯片放在桌子上，位于右侧机械臂下方、左侧机械臂右侧。桌子在左右机械臂... |
[
{
"content": [
{
"image": "trainset/392/692481/Empty the water from the large measuring cup held in the left arm_/00208.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/392/692481/Empty the water from the large measuring cu... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂持有大测量杯，其夹持器状态为闭合；大测量杯在左侧机械臂操作下呈倾斜状态，杯口朝向下方的接水容器，接水容器位于左侧机械臂下方。右侧机械臂位于大测量杯的右侧，其夹持器未夹持物体，状态为张开。大测量杯作为目标物品，被左侧机械臂夹住，处于接水容器上方以倒空内部的水；接水容器相对于左侧机械臂位于下方，相对于右侧机械臂位于左侧。\nimg2: 左侧机械臂在接水容器上方，其夹持器闭合并夹住大测量杯。右侧机械臂在接水容器右侧，其夹持器张开。大测量杯被左侧机械臂夹持，位于接水... |
[
{
"content": [
{
"image": "trainset/362/668644/Grasp the waistband of light blue denim shorts with both hands and fold it down to the legs_/00124.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/668644/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腰带的左侧，右侧机械臂在腰带的右侧。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。浅蓝色牛仔短裤平铺于支撑面上，腰带部分位于腿部上方，腿部部分在腰带下方。左右机械臂分别在腰带两侧夹持，整体处于将腰带向下折叠至腿部的过程中。\nimg2: 左侧机械臂在浅蓝色牛仔短裤腰部的左侧，右侧机械臂在浅蓝色牛仔短裤腰部的右侧。左侧机械臂夹持器闭合，已夹住短裤腰部；右侧机械臂夹持器闭合，已夹住短裤腰部。目标物品浅蓝色牛仔... |
[
{
"content": [
{
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"image_id": null,
"text": null,
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{
"image": null,
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"text": "Is the color of the cabinet to my left closer to lemon or tomato?",
"type": "t... | {
"answer": "unknown",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/384/673432/Insert the book held in the right arm into the gap cleared by the left arm on the shelf_/00085.jpg",
"image_id": "img1",
"text": null,
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"spatial details": "\nimg1: 左侧机械臂夹持器闭合，已夹住灰色水瓶，灰色水瓶位于左侧机械臂夹持器中且在某物品（如桌面）上方。右侧机械臂位于左侧机械臂右侧，其夹持器处于张开状态。灰色水瓶相对于右侧机械臂在左侧，某物品位于左右机械臂下方。\nimg2: 左侧机械臂在灰色水瓶上方，其夹持器闭合，已物理接触并夹住灰色水瓶；右侧机械臂在灰色水瓶右侧，其夹持器张开，指尖未接触任何物体。灰色水瓶位于左侧机械臂夹持器中，在某物品（如桌面）上方；某物品位于左侧机械臂和右侧机械臂下方。任务相关的灰色水瓶被左侧机械臂夹... |
[
{
"content": [
{
"image": "trainset/361/689890/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00024.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/689890/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，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平铺在工作台上方，位于左右机械臂之间。工作台在左右机械臂的下方，支撑着短裤。\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合，已物理接触并夹住短裤左侧部分；右侧机械臂夹持器闭合，已物理接触并夹住短裤右侧部分。目标物品浅蓝色... |
[
{
"content": [
{
"image": "trainset/360/666646/Place the grasped sandwich cookies into gray felt bag with the right arm_/00116.jpg",
"image_id": "img1",
"text": null,
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{
"image": "trainset/360/666646/Place the grasped sandwich cookies i... | {
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"spatial details": "\nimg1: 左侧机械臂在gray felt bag的左侧，右侧机械臂在gray felt bag的上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合（夹住sandwich cookies）。目标物品sandwich cookies被右侧机械臂夹持，位于gray felt bag的正上方。gray felt bag位于左侧机械臂的右侧、右侧机械臂的正下方。任务相关关键物品布局：gray felt bag处于中间位置，右侧机械臂携sandwich cookies悬于其上方，准备完成放置... |
[
{
"content": [
{
"image": "trainset/368/661080/Open the oven door with both hands_/00152.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/368/661080/Open the oven door with both hands_/00159.jpg",
"image_id": "img2"... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂位于烤箱门的左侧，右侧机械臂位于烤箱门的右侧。左侧机械臂夹持器处于闭合状态（已物理接触并夹住烤箱门左侧边缘），右侧机械臂夹持器处于闭合状态（已物理接触并夹住烤箱门右侧边缘）。目标物品烤箱门位于左右机械臂之间，且在烤箱主体的前方。烤箱主体位于左右机械臂的后方。烤箱门在左右机械臂的夹持下呈现向外打开的状态，左右机械臂均在烤箱主体的前方操作烤箱门。\nimg2: 左侧机械臂在烤箱门左侧，右侧机械臂在烤箱门右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品烤... |
[
{
"content": [
{
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},
{
"image": "trainset/352/660558/Push the refrigerator door with the right arm_/00154.jpg",
... | {
"answer": null,
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"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，其夹持器处于张开状态，且夹持器与冰箱门表面接触。冰箱门位于冰箱主体前方，且在右侧机械臂正前方。冰箱主体在左侧机械臂右侧、右侧机械臂后方。\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。目标物品冰箱门位于右侧机械臂前方，且在冰箱主体前方。冰箱主体位于左侧机械臂右侧和右侧机械臂后方。右侧机械臂与冰箱门表面接触，处于推动冰箱门的位置关系。"
... |
[
{
"content": [
{
"image": "trainset/361/665755/Smooth out a messy green shorts with both arms and spread it flat_/00088.jpg",
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{
"image": "trainset/361/665755/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的左侧部分，右侧机械臂在绿色短裤的右侧部分。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。绿色短裤位于工作台上方，左右机械臂分别在绿色短裤的左右两侧并与其接触。工作台在左右机械臂的下方，绿色短裤在工作台上方且处于左右机械臂之间，被双臂夹持以进行抚平操作。\nimg2: 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。左侧机械臂夹持器处于张开状态，右侧机械臂夹持器处于张开状态。绿色短裤位于... |
[
{
"content": [
{
"image": "trainset/372/677125/Retrieve the cotton swab from the table with the right arm_/00084.jpg",
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{
"image": "trainset/372/677125/Retrieve the cotton swab from the table with the r... | {
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"spatial details": "\nimg1: 左侧机械臂在桌子上方，位于棉签左侧；右侧机械臂在棉签上方，其夹持器呈张开状态，指尖与棉签间存在空隙；目标物品棉签位于桌子表面，在右侧机械臂正下方，在左侧机械臂右侧；桌子作为支撑面，位于左右机械臂下方，承载棉签及机械臂操作空间。\nimg2: 左侧机械臂位于桌子左侧，右侧机械臂位于棉签上方。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。目标物品棉签位于桌子上方，在右侧机械臂下方，在左侧机械臂右侧。桌子位于左右机械臂下方，支撑棉签。"
} |
[
{
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{
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{
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"text": "Indicate the velocity of the object at boundin... | {
"answer": "In 2 seconds, the object at bounding box [915, 790, 1074, 947] is expected to travel at 11.69 m/s.",
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"content": [
{
"image": "trainset/421/681852/Grasp the cloth on the table and wipe the stain_/00037.jpg",
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},
{
"image": "trainset/421/681852/Grasp the cloth on the table and wipe the stain_/00052.jpg",
... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂位于桌子上方，其夹持器正对着桌面上的布，夹持器状态为闭合；右侧机械臂位于桌子右侧，夹持器处于张开状态。目标物品布被左侧机械臂夹持，位于桌子表面，污渍在桌子上且位于布的下方。桌子位于左右机械臂的下方，承载布和污渍，布与污渍的空间位置关系显示左侧机械臂正通过夹持布准备或进行擦拭污渍的动作。\nimg2: 左侧机械臂在桌子上方，其夹持器闭合，已夹住桌上的布；右侧机械臂在桌子右侧，夹持器张开，未接触任何物体。布被左侧机械臂夹持，位于污渍上方，污渍在桌子表面，布的下方... |
[
{
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{
"image": "trainset/362/664113/Grasp the waistband of light blue denim shorts with both hands and fold it down to the legs_/00057.jpg",
"image_id": "img1",
"text": null,
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{
"image": "trainset/362/664113/Grasp the waistba... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在浅蓝色牛仔短裤裤腰的左侧上方，右侧机械臂在裤腰的右侧上方。左侧机械臂夹持器闭合，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。浅蓝色牛仔短裤平铺于工作台面，裤腰朝上、腿部朝下，位于左右机械臂之间的正下方。工作台在左右机械臂的下方，支撑着短裤，短裤腿部部分在裤腰的下方。\nimg2: 左侧机械臂在浅蓝色牛仔短裤腰带的左侧，右侧机械臂在腰带的右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品浅蓝色牛仔短裤位于放置平面上方，腰带部分朝上，... |
[
{
"content": [
{
"image": "trainset/356/654769/Grasp the left arm with white plastic bag_/00005.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/654769/Grasp the left arm with white plastic bag_/00019.jpg",
"ima... | {
"answer": null,
"closer to completion": "img2",
"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，其夹持器闭合，已物理接触并夹住目标物品；右侧机械臂在目标物品右侧，夹持器张开。目标物品位于左侧机械臂下方，白色塑料袋附着于目标物品表面，处于左侧机械臂夹持范围内。白色塑料袋相对于左侧机械臂位于夹爪之间，相对于右侧机械臂在其左侧。\nimg2: 左侧机械臂位于目标物品（带有白色塑料袋的左臂）正前方，其夹持器处于张开状态，指尖与目标物品间存在空隙；右侧机械臂位于目标物品左侧，夹持器处于闭合状态。目标物品（带有白色塑料袋的... |
[
{
"content": [
{
"image": "trainset/422/687198/Lift the air column film from the table with the right arm_/00143.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/422/687198/Lift the air column film from the table with the r... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在桌子左侧，其夹持器处于张开状态。右侧机械臂在气柱膜上方，其夹持器闭合，已物理接触并夹住气柱膜。目标物品气柱膜位于桌子上方，被右侧机械臂夹持，相对于左侧机械臂在右侧。桌子位于左右机械臂下方，支撑气柱膜及周围环境。\nimg2: 左侧机械臂位于桌子上方，在气柱膜的左侧。右侧机械臂位于桌子上方，其夹爪物理接触并夹住气柱膜，气柱膜已部分抬升离开桌面。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。目标物品气柱膜被右侧机械臂夹持，位于右机械臂夹爪中，相对于桌... |
[
{
"content": [
{
"image": "trainset/376/651517/Place the held usb to serial converter into the right blue target box_/00052.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/651517/Place the held usb to serial converter ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂位于右侧蓝色目标盒左侧，其夹持器处于张开状态。右侧机械臂在右侧蓝色目标盒正上方，夹持器闭合，正夹住usb to serial converter。目标物品usb to serial converter被右侧机械臂夹持，处于右侧蓝色目标盒正上方。右侧蓝色目标盒位于右侧机械臂下方，且在左侧机械臂右侧。\nimg2: 左侧机械臂在右侧蓝色目标盒的左侧，右侧机械臂在右侧蓝色目标盒的上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为闭合（夹住usb to ser... |
[
{
"content": [
{
"image": "trainset/362/666259/Grasp the lower pant leg and waistband of black shorts and fold them over the upper pant leg and waistband_/00034.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/666259/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，夹持器张开；右侧机械臂在黑色短裤腰带右侧，夹持器闭合夹住腰带。黑色短裤平铺于工作台面，上裤腿在下方，下裤腿在上方，腰带位于短裤上部。工作台在左右机械臂下方，支撑黑色短裤，下裤腿在左侧机械臂正下方，腰带在右侧机械臂正左侧。\nimg2: 左侧机械臂在黑色短裤的lower pant leg上方，夹持器闭合，夹住lower pant leg；右侧机械臂在黑色短裤的waistband右侧，夹持器闭合，夹住waistband。黑色短裤的upper... |
[
{
"content": [
{
"image": "trainset/359/689181/Place the held soap dish into the right blue target box_/00070.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/359/689181/Place the held soap dish into the right blue target b... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在右侧蓝色目标盒的左侧，右侧机械臂在右侧蓝色目标盒的上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合（夹住肥皂盒）。目标物品肥皂盒被右侧机械臂夹持，位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，在左侧机械臂的右侧。\nimg2: 右侧机械臂夹持器闭合，夹住肥皂盒，右侧机械臂位于右侧蓝色目标盒上方；左侧机械臂夹持器张开，位于右侧蓝色目标盒左侧。肥皂盒被右侧机械臂夹持，处于右侧蓝色目标盒上方；右侧蓝色目标盒位于左侧机械臂右侧、右侧机械臂下方。"
... |
[
{
"content": [
{
"image": "trainset/410/660331/Pour the water from the held white kettle into the nearby cup_/00025.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/660331/Pour the water from the held white kettle into ... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂持有白色水壶，其夹持器处于闭合状态（夹住水壶），左侧机械臂位于杯子上方。右侧机械臂位于杯子右侧，其夹持器处于张开状态。白色水壶在杯子上方，壶嘴倾斜朝向杯口。杯子位于左侧机械臂下方、右侧机械臂左侧。\nimg2: 右侧机械臂夹持着白色水壶，其夹持器状态为闭合；白色水壶位于杯子上方，杯子在水壶的正下方且距离较近。左侧机械臂在杯子的左侧，其夹持器状态为张开。目标物品白色水壶被右侧机械臂持有，杯子处于右侧机械臂下方，是水壶倒水的目标位置，二者空间位置接近，利于完成倒... |
[
{
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{
"image": "trainset/380/691979/Place the air column film into the cardboard box_/00089.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/691979/Place the air column film into the cardboard box_/00076.jpg"... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在气柱膜上方，右侧机械臂在纸箱上方。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈闭合状态。目标物品气柱膜位于左侧机械臂下方、纸箱左侧，纸箱位于右侧机械臂下方、气柱膜右侧。气柱膜在左侧机械臂正下方，纸箱在右侧机械臂正下方，右侧机械臂夹持器闭合夹住气柱膜，处于向纸箱内放置的过程中。\nimg2: 左侧机械臂在纸箱的左侧，右侧机械臂在纸箱的上方。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器呈闭合状态（已夹住气柱膜）。目标物品气柱膜被右侧机械臂夹持，位于纸箱开口的... |
[
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"content": [
{
"image": "trainset/372/677146/Place the grasped small bottle of shampoo into red canvas tote bag with the right arm_/00108.jpg",
"image_id": "img1",
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{
"image": "trainset/372/677146/Place the grasped small... | {
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"spatial details": "\nimg1: 左侧机械臂在红色帆布手提袋的左侧，其夹持器处于张开状态。右侧机械臂在红色帆布手提袋的上方，其夹持器处于闭合状态，正夹持着小瓶洗发水。小瓶洗发水在右侧机械臂夹持下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: 左侧机械臂位于红色帆布手提袋的左侧，夹持器呈张开状态。右侧机械臂位于红色帆布手提袋的上方，其夹持器处于闭合状态，物理接触并夹住小洗发水瓶。小洗发水瓶在右侧机械臂的夹持下，位于红色帆布手提袋的正上方。红色帆布手提袋... |
[
{
"content": [
{
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"image_id": null,
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},
{
"image": null,
"image_id": null,
"text": "What is upright and flat on my desk in front of me?",
"type": "text"
}
... | {
"answer": "monitor",
"closer to completion": null,
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} |
[
{
"content": [
{
"image": "trainset/361/676480/Smooth out a messy black shorts with both arms and spread it flat_/00070.jpg",
"image_id": "img1",
"text": null,
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},
{
"image": "trainset/361/676480/Smooth out a messy black shorts with both a... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在黑色短裤的左侧上方，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，夹住黑色短裤的左侧边缘；右侧机械臂夹持器闭合，夹住黑色短裤的右侧边缘。黑色短裤位于工作台上方，且被左右机械臂从两侧夹持，处于被拉伸展平的状态。工作台位于左右机械臂的下方，黑色短裤在工作台的正上方。\nimg2: 左侧机械臂在黑色短裤左侧上方，右侧机械臂在黑色短裤右侧上方。左侧机械臂夹持器闭合，已物理接触并夹住黑色短裤左侧边缘；右侧机械臂夹持器闭合，已物理接触并夹住黑色短裤右侧边缘。黑... |
[
{
"content": [
{
"image": "trainset/361/671947/Smooth out a messy green shorts with both arms and spread it flat_/00132.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/671947/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边缘上方，右侧机械臂在绿色短裤右侧边缘上方。左侧机械臂夹持器闭合，已夹住绿色短裤的左侧部分；右侧机械臂夹持器闭合，已夹住绿色短裤的右侧部分。目标物品绿色短裤位于工作台上方，处于被左右机械臂向两侧拉伸的状态。工作台在绿色短裤下方，同时位于左右机械臂的正下方。\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，右侧机械臂夹持器闭合。绿色短裤位于左侧机械臂和右侧机械臂的下方，且位于工作台（某物品）的上方。工作... |
[
{
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{
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},
{
"image": null,
"image_id": null,
"text": "What is on top of the bathtub that is on my right?",
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}
... | {
"answer": "towel",
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} |
[
{
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{
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},
{
"image": null,
"image_id": null,
"text": "The big object to the left of the large cylinder on the right side of the small metal... | {
"answer": "green",
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} |
[
{
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{
"image": "trainset/384/663074/Lift the horizontally placed book on the shelf with the right arm_/00003.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/663074/Lift the horizontally placed book on the sh... | {
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"spatial details": "\nimg1: 左侧机械臂在书架左侧，右侧机械臂在水平放置的书的上方并夹持书。左侧机械臂夹持器张开，右侧机械臂夹持器闭合（已物理接触并夹住书）。目标书位于书架上方（已被举起），书在右侧机械臂的夹持下处于书架原有放置位置的正上方。书架在左侧机械臂右侧、右侧机械臂左侧，书原本水平放置于书架上，当前已脱离书架表面。\nimg2: 左侧机械臂在书架左侧，右侧机械臂在书的上方。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（已物理接触并夹住书）。目标物品书被右侧机械臂夹持，位于书架上方... |
[
{
"content": [
{
"image": "trainset/352/670637/Open the refrigerator door with the left arm_/00030.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/670637/Open the refrigerator door with the left arm_/00018.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，已物理接触并夹住冰箱门边缘。右侧机械臂位于冰箱右侧，夹持器张开，指尖未并拢且未接触任何物体。冰箱门位于左侧机械臂的前方，冰箱位于左侧机械臂和右侧机械臂的后方。左侧机械臂在冰箱门的前方，右侧机械臂在冰箱的右侧。\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）；右侧机械臂位于冰箱主体左侧，其夹持器张开（未接触物体且指尖未并拢）。目标物品冰箱门位于冰箱主体右侧，被左侧机械臂夹持，处于半开状态；冰箱主体位... |
[
{
"content": [
{
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"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Is the desk closer to the chair or trash can?",
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}
],
... | {
"answer": "chair",
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} |
[
{
"content": [
{
"image": "trainset/421/687720/Lower the right arm to put away the cleaned cloth_/00088.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/421/687720/Lower the right arm to put away the cleaned cloth_/00073.jp... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在放置清洁布的收纳盒左侧，右侧机械臂在放置清洁布的收纳盒上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合。目标物品清洁过的布被右侧机械臂夹持，位于放置清洁布的收纳盒上方。放置清洁布的收纳盒在右侧机械臂下方，在左侧机械臂右侧。\nimg2: 左侧机械臂在放置清洁布的容器上方，夹持器张开。右侧机械臂正下降至放置容器上方，夹持器闭合且已夹住清洁布，清洁布位于右侧机械臂夹持器与放置容器之间，放置容器在右侧机械臂下方。右侧机械臂处于将清洁布放入容器的过程中，左侧机械臂... |
[
{
"content": [
{
"image": "trainset/354/666961/Place the held large building block toy set into the shopping cart_/00054.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/354/666961/Place the held large building block toy se... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 右侧机械臂在购物车上方，其夹持器闭合，正夹持着大型积木玩具套装；左侧机械臂在购物车左侧，夹持器张开。大型积木玩具套装在右侧机械臂夹持下位于购物车上方，购物车在右侧机械臂下方、左侧机械臂右侧。\nimg2: 左侧机械臂在购物车左侧，其夹持器状态为张开。右侧机械臂在购物车上方，其夹持器状态为闭合，正夹持目标物品（large building block toy set）。目标物品位于购物车内部上方，处于右侧机械臂夹持下。购物车位于右侧机械臂下方，在左侧机械臂右侧。"
} |
[
{
"content": [
{
"image": "trainset/372/676920/Retrieve the cotton swab from the table with the right arm_/00081.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/372/676920/Retrieve the cotton swab from the table with the r... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于桌子左侧，其夹持器状态为张开。右侧机械臂位于桌子上方，且处于棉签正上方，夹持器状态为张开。棉签位于桌子表面，处于右侧机械臂正下方。桌子位于左右机械臂下方，支撑着棉签。左侧机械臂在右侧机械臂左侧，二者均在桌子上方区域。\nimg2: 左侧机械臂在桌子的左侧，右侧机械臂在桌子上方且位于棉签的正上方。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。棉签位于桌子表面，在右侧机械臂的下方、左侧机械臂的右侧。桌子在左右两个机械臂的下方。"
} |
[
{
"content": [
{
"image": "trainset/410/680688/Place the golden kettle held in the left arm back on the table_/00060.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/410/680688/Place the golden kettle held in the left arm b... | {
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"spatial details": "\nimg1: 左侧机械臂在桌子上方，其夹持器闭合，金色水壶被左侧机械臂夹持并位于桌子上方。右侧机械臂在桌子右侧，其夹持器张开。金色水壶相对于左侧机械臂处于被夹持状态，位于桌子上方；桌子位于左侧机械臂下方，是目标放置位置。\nimg2: 左侧机械臂位于金色水壶周围，其夹持器闭合，正夹住金色水壶；金色水壶位于桌子上方。右侧机械臂位于桌子右侧，其夹持器张开。桌子位于左右机械臂下方，金色水壶在左侧机械臂夹持下处于桌子正上方，即将接触桌面。"
} |
[
{
"content": [
{
"image": "trainset/362/654087/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00087.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/654087/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左侧上方，右侧机械臂在米色短裤腰带右侧上方；左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开；目标物品米色短裤位于左右机械臂下方，且平铺于一平面上，该平面在米色短裤下方，左右机械臂均在该平面上方；米色短裤腰带部分处于左右机械臂之间，腿部部分在腰带下方，腰带与腿部呈上下分布。\nimg2: 左侧机械臂位于米色短裤腰带的左侧，右侧机械臂位于腰带的右侧。左侧机械臂夹持器闭合，已夹住腰带左侧部分；右侧机械臂夹持器闭合，已夹住腰带右侧部分。米色短裤... |
[
{
"content": [
{
"image": "trainset/384/663223/Push aside the books on the shelf with the left arm_/00045.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/663223/Push aside the books on the shelf with the left arm_/0003... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于书架上的书的前方，其夹持器处于张开状态。右侧机械臂位于书架的右侧，夹持器处于张开状态。目标物品书位于书架的中层，在左侧机械臂的前方，左侧机械臂正从书的左侧向右侧推动。书架位于左右机械臂的前方，书在书架的中层隔板上。\nimg2: 左侧机械臂位于书架上的书的前方，其夹持器处于张开状态。右侧机械臂位于书架的右侧，夹持器呈张开状态。目标物品书位于书架上，在左侧机械臂的后方。书架位于左侧机械臂的前方，右侧机械臂的左侧。左侧机械臂的夹持器与书的侧面接近或接触，处于... |
[
{
"content": [
{
"image": "trainset/376/674239/Place the fast charger held in the right arm into the blue target box on the right_/00115.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/376/674239/Place the fast charger hel... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在蓝色目标盒左侧，其夹持器状态为张开。右侧机械臂在蓝色目标盒上方，其夹持器闭合且夹住快充器，快充器位于蓝色目标盒内部上方。蓝色目标盒在右侧，处于桌面等支撑面上，快充器作为目标物品被右侧机械臂夹持并悬于蓝色目标盒内上方。\nimg2: 左侧机械臂在蓝色目标盒的左侧，其夹持器处于张开状态。右侧机械臂在蓝色目标盒的上方，其夹持器处于闭合状态，正夹持着快速充电器。快速充电器被右侧机械臂夹持，位于蓝色目标盒的正上方。蓝色目标盒在右侧机械臂的下方，且在左侧机械臂的右侧。... |
[
{
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{
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"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "Which direction should I go if I want to open the window?",
"type": "text"
... | {
"answer": "left",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "sqa3D/scene0333_00_bird.png",
"image_id": null,
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},
{
"image": null,
"image_id": null,
"text": "Can I see notepad where I am standing?",
"type": "text"
}
],
"ro... | {
"answer": "no",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/354/650235/Retrieve from the shelf_/00022.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/354/650235/Retrieve from the shelf_/00028.jpg",
"image_id": "img2",
"text": null... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 货架位于场景中间，目标物品放置在货架中层。左侧机械臂在货架前方、目标物品正前方，其夹持器呈张开状态，指尖与目标物品间存在空隙。右侧机械臂在货架右侧，其夹持器处于闭合状态，指尖完全并拢。目标物品在左侧机械臂前方、右侧机械臂左侧，同时位于货架中层。货架在左侧机械臂后方、右侧机械臂左侧。\nimg2: 左侧机械臂位于货架中层目标物品正上方，右侧机械臂位于货架右侧旁边。左侧机械臂夹持器呈张开状态，指尖与目标物品间存在空隙；右侧机械臂夹持器闭合，指尖完全并拢。目标物品位于货架中... |
[
{
"content": [
{
"image": "trainset/384/678069/Push aside the books on the shelf with the left arm_/00057.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/678069/Push aside the books on the shelf with the left arm_/0005... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于书架上的书的前方，其夹持器处于张开状态。右侧机械臂位于书架的右侧，夹持器处于张开状态。目标物品书放置在书架上，左侧机械臂在书的前方且与书接触，书相对于左侧机械臂处于后方。书架位于左右机械臂之间，左侧机械臂在书架前方，右侧机械臂在书架右侧。书在左侧机械臂的推动下部分移向书架的一侧。\nimg2: 左侧机械臂位于书架上的书的前方，其夹持器物理接触并夹住书的侧面；右侧机械臂位于书架的右侧，未接触书。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... |
[
{
"content": [
{
"image": "trainset/384/671710/Push aside the books on the shelf with the left arm_/00049.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/384/671710/Push aside the books on the shelf with the left arm_/0004... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在书架上的书的前方偏右位置，夹持器闭合（物理接触并夹住书）。右侧机械臂在书架的左侧，夹持器张开（指尖未完全并拢）。书位于书架的水平层板上，左侧机械臂在书的右侧，正将书向书架右侧推。书架在左右机械臂之间，书相对于左侧机械臂在其左侧，相对于右侧机械臂在其右侧。\nimg2: 左侧机械臂在书架上的书的前方，右侧机械臂在书架的右侧。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为张开。目标物品书位于书架的水平表面上，书在左侧机械臂的后方，书架在左侧机械臂的前方，书... |
[
{
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{
"image": "trainset/367/649887/Place the toast on the plate_/00018.jpg",
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"t... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂在盘子左侧，右侧机械臂在盘子上方。左侧机械臂夹持器张开，右侧机械臂夹持器闭合（夹住吐司）。目标物品吐司被右侧机械臂夹持，位于盘子上方。盘子在左侧机械臂右侧，在右侧机械臂下方。关键物品空间布局：吐司在右侧机械臂夹持下处于盘子正上方，盘子位于左侧机械臂右侧区域。\nimg2: 左侧机械臂位于吐司上方，夹持器闭合（夹住吐司）；右侧机械臂位于盘子右侧，夹持器张开。吐司被左侧机械臂夹持，处于盘子正上方；盘子位于右侧机械臂左侧，同时在左侧机械臂正下方。"
} |
[
{
"content": [
{
"image": "trainset/357/692223/Pull down the dishwasher lid with both arms_/00235.jpg",
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{
"image": "trainset/357/692223/Pull down the dishwasher lid with both arms_/00240.jpg",
... | {
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"spatial details": "\nimg1: 左侧机械臂在洗碗机盖子左侧，右侧机械臂在洗碗机盖子右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品洗碗机盖子位于洗碗机主体上方，且分别被左侧机械臂和右侧机械臂夹持。洗碗机主体在左右两个机械臂下方。\nimg2: 左侧机械臂在洗碗机盖子左侧，且位于洗碗机本体上方；右侧机械臂在洗碗机盖子右侧，且位于洗碗机本体上方。左侧机械臂夹持器闭合，已物理接触并夹住洗碗机盖子左侧边缘；右侧机械臂夹持器闭合，已物理接触并夹住洗碗机盖子右侧边缘。目标物品洗碗机盖子位于左右机械臂之... |
[
{
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{
"image": "trainset/368/660907/Brush the baking pan with the oil brush held in the right arm_/00029.jpg",
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},
{
"image": "trainset/368/660907/Brush the baking pan with the oil brush held in... | {
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"spatial details": "\nimg1: 左侧机械臂在烤盘左侧，其夹持器处于张开状态。右侧机械臂在烤盘上方，其夹持器闭合，正夹持着油刷，油刷的刷毛部分接触烤盘表面。烤盘位于左右机械臂之间的工作台面上，油刷相对于右侧机械臂为被夹持状态，相对于烤盘为接触状态，左侧机械臂未接触任何任务相关物品。\nimg2: 左侧机械臂在烤盘左侧，其夹持器处于张开状态。右侧机械臂在烤盘上方，其夹持器闭合夹住油刷，油刷的刷毛部分接触烤盘表面。目标物品油刷被右侧机械臂夹持，位于烤盘上方并与烤盘接触；烤盘放置在工作台上，位于左右机械臂之... |
[
{
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{
"image": null,
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"text": "Is there another big rubber sphere that has the same color as the big rubber sphere?"... | {
"answer": "no",
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{
"image": "trainset/362/670818/Gr... | {
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"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腰带右侧，夹持器闭合夹住腰带。米色短裤平铺于工作台表面，下裤腿位于左侧机械臂下方，腰带位于右侧机械臂左侧。工作台在左右机械臂下方，支撑米色短裤，下裤腿与腰带处于同一平面，左右机械臂分别夹持短裤待折叠部分。\nimg2: 左侧机械臂位于米色短裤下裤腿上方，右侧机械臂位于米色短裤裤腰右侧。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，已物理接触并夹住裤腰。米色短裤上裤腿位于下裤... |
[
{
"content": [
{
"image": "trainset/392/650774/Turn on the faucet with the right arm_/00060.jpg",
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"text": null,
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},
{
"image": "trainset/392/650774/Turn on the faucet with the right arm_/00055.jpg",
"image_id": ... | {
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"spatial details": "\nimg1: 左侧机械臂在水龙头左侧，其夹持器处于张开状态。右侧机械臂在水龙头前方，其夹持器闭合，物理接触并夹住水龙头手柄。目标物品水龙头在右侧机械臂前方，在左侧机械臂右侧；水槽在水龙头下方，同时位于左右机械臂下方。右侧机械臂通过闭合的夹持器与水龙头手柄接触，处于执行打开水龙头动作的位置。\nimg2: 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（已物理接触并夹住水龙头手柄）。目标物品水龙头位于右侧机械臂前方，在左侧机械臂右侧。水龙头... |
[
{
"content": [
{
"image": "trainset/421/687785/Lift the cup on the table with the left arm_/00027.jpg",
"image_id": "img1",
"text": null,
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{
"image": "trainset/421/687785/Lift the cup on the table with the left arm_/00033.jpg",
... | {
"answer": null,
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"spatial details": "\nimg1: 左侧机械臂位于杯子正上方，其夹持器闭合，已物理接触并夹住杯子。右侧机械臂位于桌子右侧，其夹持器张开，未接触任何物体。目标物品杯子位于桌子上，被左侧机械臂夹持，杯子在左侧机械臂下方，在右侧机械臂左侧。桌子位于左右机械臂下方，支撑杯子，桌子在左侧机械臂正下方，在右侧机械臂左下方。\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，其夹持器张开。杯子位于桌子上方，被左侧机械臂夹持且处于被抬起状态；桌子位于左侧机械臂和右侧机械臂的下... |
[
{
"content": [
{
"image": "trainset/352/662661/Push the refrigerator door with the right arm_/00127.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/662661/Push the refrigerator door with the right arm_/00138.jpg",
... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在冰箱的左侧，远离冰箱门；右侧机械臂在冰箱门的正前方，其夹持器正对冰箱门表面。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右侧机械臂的前方，左侧机械臂的右侧。冰箱门相对于右侧机械臂处于可被推动的前方位置，相对于左侧机械臂处于较远的右侧位置。\nimg2: 左侧机械臂在冰箱门左侧旁边，右侧机械臂在冰箱门前侧，其夹持器与冰箱门表面接触。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右侧机械臂前方，冰箱门相... |
[
{
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{
"image": "trainset/414/670538/Hang the clothes held in the left arm on the left side of wooden clothes hanger_/00086.jpg",
"image_id": "img1",
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},
{
"image": "trainset/414/670538/Hang the clothes held in the ... | {
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"spatial details": "\nimg1: 左侧机械臂在木质衣架左侧，其夹持器闭合（夹住衣物）；右侧机械臂在木质衣架右侧，其夹持器张开。目标物品衣物被左侧机械臂夹持，位于木质衣架左侧上方；木质衣架位于左侧机械臂右侧、右侧机械臂左侧，整体处于左右机械臂之间。\nimg2: 左侧机械臂在木质衣架左侧上方，其夹持器闭合，夹住目标衣服；右侧机械臂在木质衣架右侧旁边，其夹持器张开。目标衣服被左侧机械臂夹持，位于木质衣架左侧前方。木质衣架位于左侧机械臂右侧、右侧机械臂左侧，处于左右机械臂之间。"
} |
[
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"content": [
{
"image": "trainset/361/679432/Smooth out a messy beige shorts with both arms and spread it flat_/00071.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/679432/Smooth out a messy beige shorts with both a... | {
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"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于米色短裤左侧部分的上方并接触短裤，右侧机械臂位于米色短裤右侧部分的上方并接触短裤。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。目标物品米色短裤位于左右机械臂之间，且在工作台上方。工作台位于左右机械臂的下方，支撑着米色短裤。短裤整体被左右机械臂向两侧拉伸，处于抚平并铺平的状态。\nimg2: 左侧机械臂在米色短裤左侧边缘上方，右侧机械臂在米色短裤右侧边缘上方。左侧机械臂夹持器闭合，已夹住短裤左侧边... |
[
{
"content": [
{
"image": "trainset/380/657152/Pick up the air column film outside the carton_/00025.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/380/657152/Pick up the air column film outside the carton_/00009.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。目标物品气柱膜位于纸箱外部，在左侧机械臂正下方、纸箱右侧。纸箱在右侧机械臂右侧、气柱膜左侧。气柱膜处于左侧机械臂可抓取范围内，其位置在纸箱外部且位于左侧机械臂下方，与夹持器正对。\nimg2: 左侧机械臂在纸箱左侧，右侧机械臂在气柱膜上方。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。目标物品气柱膜位于纸箱外侧，在右侧机械臂下方，且与纸箱接触；纸箱在左侧机械... |
[
{
"content": [
{
"image": "sqa3D/scene0402_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What color is the table behind me?",
"type": "text"
}
],
"role":... | {
"answer": "unknown",
"closer to completion": null,
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} |
[
{
"content": [
{
"image": "trainset/361/685368/Smooth out a messy light blue denim shorts with both arms and spread it flat_/00143.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/361/685368/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部分上方，右侧机械臂在短裤的右侧部分上方；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；目标物品浅蓝色牛仔短裤位于左右机械臂之间，下方为工作台；工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平面上方，平面在左右机械臂的下方。左右机械臂分别在浅蓝色牛仔短裤的左右两... |
[
{
"content": [
{
"image": "sqa3D/scene0171_00_bird.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
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"text": "What shape is the table?",
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}
],
"role": "user"
... | {
"answer": "rectangle",
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"content": [
{
"image": "trainset/356/650040/Place the held yeast bread into white plastic bag_/00079.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/356/650040/Place the held yeast bread into white plastic bag_/00068.jp... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂位于白色塑料袋的正上方，其夹持器闭合，夹住酵母面包；右侧机械臂位于白色塑料袋的右侧，夹持器张开。酵母面包被左侧机械臂夹持，处于白色塑料袋的正上方。白色塑料袋位于左侧机械臂的下方，右侧机械臂的左侧。\nimg2: 左侧机械臂在白色塑料 bag 上方，其夹持器闭合，正持有酵母面包；右侧机械臂在白色塑料 bag 左侧，其夹持器张开。酵母面包位于左侧机械臂夹持器中，处于白色塑料 bag 正上方；白色塑料 bag 位于左右机械臂之间的下方位置，开口朝上。"
} |
[
{
"content": [
{
"image": "trainset/352/667865/Push the refrigerator door with the right arm_/00141.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/667865/Push the refrigerator door with the right arm_/00134.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"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与冰箱门接触。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，相对于右侧机械臂在后方，相对于左侧机械臂在右侧。冰箱主体位于左侧机械臂的右侧，位于右侧机械臂的后方。\nimg2: 左侧机械臂位于冰箱的左侧，其夹持器处于张开状态。右侧机械臂位于冰箱门的前方，其夹持器张开，指尖接触冰箱门表面。目标物品冰箱门位于右侧机械臂的前方，冰箱整体位于左侧机械臂的右侧和右侧机械臂的后方。"
... |
[
{
"content": [
{
"image": "trainset/362/669569/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00064.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/669569/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，均夹住米色短裤的腰带部分。米色短裤的腿部部分位于腰带下方，左右机械臂正将腰带向下折叠至腿部上方。\nimg2: 左侧机械臂位于米色短裤腰带的左侧上方，右侧机械臂位于米色短裤腰带的右侧上方。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。目标物品米色短裤的腰带部分被左右机械臂夹持，短裤的腿部部分位于腰带下方，左右机械臂正将腰带向下折... |
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{
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{
"image": "CLEVR/CLEVR_train_001157.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "What number of other things are there of the same size as the cyan shiny sphere?",
... | {
"answer": "6",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/362/650797/Grasp the waistband of beige shorts with both hands and fold it down to the legs_/00089.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/650797/Grasp the waistband of beige... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 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，已物理接触并夹住裤腰；右侧机械臂夹持器闭合，同样夹住裤腰。目标物品米色短裤的裤腰被左右机械臂夹持，裤腿位于裤腰下方，左右机械臂正将裤腰向下折叠至裤腿上方。裤腿相对于左右机械臂在下方位置。\nimg2: 左侧机械臂位于米色短裤腰带的左侧，右侧机械臂位于米色短裤腰带的右侧。左侧机械臂夹持器闭合，已物理接触并夹住腰带左侧；右侧机械臂夹持器闭合，已物理接触并夹住腰带右侧。目标物品米色短裤的腰... |
[
{
"content": [
{
"image": "trainset/357/663125/Pass the bowl with both hands_/00143.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/357/663125/Pass the bowl with both hands_/00129.jpg",
"image_id": "img2",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在碗的左侧，右侧机械臂在碗的右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。目标物品碗位于左右机械臂之间，被两侧机械臂共同夹持。碗下方有支撑平面，左右机械臂分别从碗的左侧和右侧对其进行夹持，两者夹持器均与碗物理接触。\nimg2: 左侧机械臂在碗的左侧，右侧机械臂在碗的右侧。左侧机械臂夹持器闭合，已物理接触并夹住碗的左侧；右侧机械臂夹持器闭合，已物理接触并夹住碗的右侧。目标物品碗位于左侧机械臂的右侧和右侧机械臂的左侧，碗在桌面的上方。桌面在左右两个机械臂的... |
[
{
"content": [
{
"image": "trainset/352/667206/Place the boxed iced tea held in the left arm on the table_/00088.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/352/667206/Place the boxed iced tea held in the left arm on t... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在桌子上方，其夹持器闭合（夹住盒装冰茶）；右侧机械臂在桌子右侧，夹持器张开。目标物品盒装冰茶被左侧机械臂夹持，位于桌子正上方；桌子在左侧机械臂下方，在右侧机械臂左侧。\nimg2: 左侧机械臂位于桌子上方，其夹持器处于闭合状态，正物理接触并夹住盒装冰茶。右侧机械臂位于桌子右侧，其夹持器处于张开状态，夹爪指尖未完全并拢且未接触任何物体。目标物品盒装冰茶被左侧机械臂夹持，位于桌子上方。桌子位于左侧机械臂下方，是盒装冰茶的目标放置位置。右侧机械臂在桌子右侧，未对任... |
[
{
"content": [
{
"image": "trainset/390/650577/Place the barcode scanner back on the counter_/00141.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/390/650577/Place the barcode scanner back on the counter_/00133.jpg",
... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 右侧机械臂在条码扫描器上方，其夹持器呈张开状态。左侧机械臂在条码扫描器左侧，夹持器闭合。目标物品条码扫描器位于柜台上方，底部与柜台表面距离较近。柜台位于左右机械臂下方，作为基准平面。条码扫描器相对于右侧机械臂处于正下方位置，相对于左侧机械臂处于右侧位置。\nimg2: 左侧机械臂在条形码扫描器左侧，右侧机械臂在条形码扫描器右侧。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。目标物品条形码扫描器放置在柜台上方，位于左右机械臂之间。柜台在左右机械臂下方，支撑着条... |
[
{
"content": [
{
"image": "CLEVR/CLEVR_train_000320.png",
"image_id": null,
"text": null,
"type": "image"
},
{
"image": null,
"image_id": null,
"text": "There is a tiny blue object behind the tiny blue rubber ball; is its shape the same a... | {
"answer": "yes",
"closer to completion": null,
"spatial details": null
} |
[
{
"content": [
{
"image": "trainset/354/653278/Retrieve from the shelf_/00006.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/354/653278/Retrieve from the shelf_/00016.jpg",
"image_id": "img2",
"text": null... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在目标物品正前方，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。目标物品位于货架中层，在左侧机械臂后方、右侧机械臂左方。货架在左右机械臂之间，目标物品放置于货架表面。左侧机械臂夹持器正对目标物品，指尖与目标物品间有空隙；右侧机械臂夹持器指尖完全并拢处于空闲状态。\nimg2: 左侧机械臂位于货架前方，其夹持器在目标物品正上方；右侧机械臂在货架右侧，处于目标物品的右后方。左侧机械臂夹持器状态为张开，夹爪呈钳形，指尖与目标物品间存在空隙；右侧... |
[
{
"content": [
{
"image": "trainset/388/691046/Retrieve bacon_/00078.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/388/691046/Retrieve bacon_/00065.jpg",
"image_id": "img2",
"text": null,
"type": ... | {
"answer": null,
"closer to completion": "img1",
"spatial details": "\nimg1: 左侧机械臂在培根上方，右侧机械臂在培根左侧。左侧机械臂夹持器呈张开状态，右侧机械臂夹持器闭合（已物理接触并夹住培根）。目标物品培根位于工作台的盘子上，盘子在左侧机械臂下方、右侧机械臂下方。培根相对于左侧机械臂处于下方，相对于右侧机械臂处于右侧；盘子相对于左右机械臂均处于下方。\nimg2: 左侧机械臂在培根上方，右侧机械臂在培根右侧。左侧机械臂夹持器状态为张开，右侧机械臂夹持器状态为闭合。目标物品培根位于盘子上，培根在左侧机械臂正下方，在右侧机械臂左侧。盘子在左侧机械... |
[
{
"content": [
{
"image": "trainset/362/661812/Grasp the waistband of green shorts with both hands and fold it down to the legs_/00067.jpg",
"image_id": "img1",
"text": null,
"type": "image"
},
{
"image": "trainset/362/661812/Grasp the waistband of green... | {
"answer": null,
"closer to completion": "img2",
"spatial details": "\nimg1: 左侧机械臂在绿色短裤腰带的左侧，右侧机械臂在绿色短裤腰带的右侧；左侧机械臂夹持器闭合，右侧机械臂夹持器闭合；绿色短裤腰带被左右机械臂夹持，位于短裤腿部的上方；短裤腿部在左右机械臂的下方。\nimg2: 左侧机械臂在绿色短裤腰带的左侧，右侧机械臂在绿色短裤腰带的右侧。左侧机械臂夹持器闭合，右侧机械臂夹持器闭合。绿色短裤的腰带部分被左右机械臂共同夹住，腿部部分在腰带下方。绿色短裤整体位于左右机械臂之间，机械臂正将夹住的腰带向下折叠至腿部上方。"
} |
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